Sensors Fusion based Online Mapping and Features Extraction of Mobile Robot in the Road Following and Roundabout

Mohammed A.H. Ali*, Musa Mailah, Wan Azhar B. Yussof, Zamzuri B. Hamedon, Zulkifli B. Yussof, Anwar P.P. Majeed

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

7 Citations (Scopus)

Abstract

A road feature extraction based mapping system using a sensor fusion technique for mobile robot navigation in road environments is presented in this paper. The online mapping of mobile robot is performed continuously in the road environments to find the road properties that enable the robot to move from a certain start position to pre-determined goal while discovering and detecting the roundabout. The sensors fusion involving laser range finder, camera and odometry which are installed in a new platform, are used to find the path of the robot and localize it within its environments. The local maps are developed using camera and laser range finder to recognize the roads borders parameters such as road width, curbs and roundabout. Results show the capability of the robot with the proposed algorithms to effectively identify the road environments and build a local mapping for road following and roundabout.

Original languageEnglish
Article number012135
JournalIOP Conference Series: Materials Science and Engineering
Volume114
Issue number1
DOIs
Publication statusPublished - 3 Mar 2016
Externally publishedYes
EventJoint Conference of 2nd International Manufacturing Engineering Conference, iMEC 2015 and 3rd Asia-Pacific Conference on Manufacturing Systems, APCOMS 2015 - Kuala Lumpur, Malaysia
Duration: 12 Nov 201514 Nov 2015

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