Evaluation of Two-Dimensional Angular Orientation of a Mobile Robot by a Modified Algorithm Based on Hough Transform : научное издание


Тип публикации: статья из журнала

Год издания: 2018

Идентификатор DOI: 10.2478/cait-2018-0032

Ключевые слова: Simultaneous Localization And Mapping (SLAM), path planning, Hough transform, angular orientation, mobile robot

Аннотация: This paper proposes an algorithm that assesses the angular orientation of a mobile robot with respect to its referential position or a map of the surrounding space. In the framework of the suggested method, the orientation problem is converted to evaluating a dimensional rotation of the object that is abstracted as a polygon (or a Показать полностьюclosed polygonal chain). The method is based on Hough transform, which transforms the measurement space to a parametric space (in this case, a two-dimensional space [tau, r] of straight-line parameters). The Hough transform preserves the angles between the straight lines during rotation, translation, and isotropic scaling transformations. The problem of rotation assessment then becomes a one-dimensional optimization problem. The suggested algorithm inherits the Hough method's robustness to noise.

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Журнал: Cybernetics and Information Technologies

Выпуск журнала: Vol. 18, Is. 2

Номера страниц: 112-122

ISSN журнала: 13119702

Место издания: SOFIA