Sensory Subsystem of a Stair-Climbing Mobile Robot

Tomáš Kot; Jiří Marek; Vladimír Mostýn; Petr Novák

doi:10.4028/www.scientific.net/AMM.772.506

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Localization and Path Planning for an Autonomous Mobile Robot Equipped with Sonar Sensor
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Testing the Accuracy of the Trajectory Ride for Omnidirectional Mobile Robot Odin
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 772Sensory Subsystem of a Stair-Climbing Mobile Robot

Sensory Subsystem of a Stair-Climbing Mobile Robot

Abstract:

The article describes sensory subsystem required for proper operation of a special segment wheel designed for smooth driving both on a flat surface and on stairs. This subsystem contains two 2D laser scanners Hokuyo oriented towards stairs that provide point clouds for further processing. The main part of the article deals with the algorithm for detection of stair features (surfaces of stair treads and risers) in the data, including initial noise filtering. The conclusion provides practical testing performed on few real staircases and evaluation of the results.

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Periodical:

Applied Mechanics and Materials (Volume 772)

Pages:

506-511

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.772.506

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Online since:

July 2015

Authors:

Tomáš Kot*, Jiří Marek, Vladimír Mostýn, Petr Novák

Keywords:

Detection, Mobile Robot, Scanner, Sensor, Stairs, Wheel

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* - Corresponding Author

References

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