<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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 closed 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 [θ, 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.</p></abstract>

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 closed 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 [θ, 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.

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

Cybernetics and Information Technologies

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

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...

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

Publicado en línea: 30 jun 2018

Páginas: 112 - 122

Recibido: 05 jul 2017

Aceptado: 27 abr 2018

DOI: https://doi.org/10.2478/cait-2018-0032

Palabras clave
Simultaneous Localization And Mapping (SLAM), path planning, Hough transform, angular orientation, mobile robot

© 2018 Dmitry N. Aldoshkin et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

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

Publicado en línea: 30 jun 2018

Páginas: 112 - 122

Recibido: 05 jul 2017

Aceptado: 27 abr 2018

DOI: https://doi.org/10.2478/cait-2018-0032

Palabras claveSimultaneous Localization And Mapping (SLAM), path planning, Hough transform, angular orientation, mobile robot

© 2018 Dmitry N. Aldoshkin et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Palabras clave
Simultaneous Localization And Mapping (SLAM), path planning, Hough transform, angular orientation, mobile robot