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.
Журнал: Cybernetics and Information Technologies
Выпуск журнала: Vol. 18, Is. 2
Номера страниц: 112-122
ISSN журнала: 13119702
Место издания: SOFIA
Издатель: INST INFORMATION & COMMUNICATION TECHNOLOGIES-BULGARIAN ACAD SCIENCES