Abstract
This work introduces a method for robot navigation in structured indoors environments, based on the information of multiple sensors. Guidance control is based on odometry, reset at some time instants by a vision-based self-localization algorithm introduced in previous work. Sonar data is used to avoid and go around obstacles. Results from the application of the complete navigation system to a real robot moving on a RoboCup soccer field are presented.
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Marques, C.F., Lima, P.U. (2002). Multi-sensor Navigation for Soccer Robots. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_15
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DOI: https://doi.org/10.1007/3-540-45603-1_15
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