Transversal positioned (TRAP) 2D laser range finder configuration

Osman Ervan; Onur Sencan; Hakan Temeltas

doi:10.1109/RoboMech.2016.7813154

Transversal positioned (TRAP) 2D laser range finder configuration

Osman Ervan
, Onur Sencan
, Hakan Temeltas

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

1 Atıf (Scopus)

Özet

This paper propose a new position configuration for 2D laser range finders (LRF) on mobile robots for simultaneous localization and mapping (SLAM) algorithms. In this study, a pair of 2D LRFs with 270°scanning range are replaced with exterior corresponding angles to the front left/right and rear right/left of the vehicle. This configuration is named as TRAnsversal Positioned (TRAP) and offers a 360°angle of field of view for the mobile robot without any blind region. This configuration ensures the AGV to identify anything inside the scanning area instantaneously. This study compares the TRAP configuration with the traditional configuration that the 2D LRF is positioned centred on the front and the rear for 'G-Mapping' SLAM method. Comparison tests are achieved under ROS (Robot Operating System) environment and results shows that TRAP configuration achieves better performance over the traditional configuration and these results are given for benchmarking.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
ISBN (Elektronik)	9781509033355
DOI'lar	https://doi.org/10.1109/RoboMech.2016.7813154
Yayın durumu	Yayınlandı - 10 Oca 2017
Etkinlik	2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016 - Stellenbosch, South Africa Süre: 30 Kas 2016 → 2 Ara 2016

Yayın serisi

Adı	2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016
Ülke/Bölge	South Africa
Şehir	Stellenbosch
Periyot	30/11/16 → 2/12/16

Bibliyografik not

Publisher Copyright:
© 2016 IEEE.

Belgeye Erişim

10.1109/RoboMech.2016.7813154

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

Ervan, O., Sencan, O., & Temeltas, H. (2017). Transversal positioned (TRAP) 2D laser range finder configuration. In 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016 Makale 7813154 (2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RoboMech.2016.7813154

Ervan, Osman ; Sencan, Onur ; Temeltas, Hakan. / Transversal positioned (TRAP) 2D laser range finder configuration. 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016. Institute of Electrical and Electronics Engineers Inc., 2017. (2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016).

@inproceedings{424f6e346e4c40bf8aed3ececfd9b879,

title = "Transversal positioned (TRAP) 2D laser range finder configuration",

abstract = "This paper propose a new position configuration for 2D laser range finders (LRF) on mobile robots for simultaneous localization and mapping (SLAM) algorithms. In this study, a pair of 2D LRFs with 270°scanning range are replaced with exterior corresponding angles to the front left/right and rear right/left of the vehicle. This configuration is named as TRAnsversal Positioned (TRAP) and offers a 360°angle of field of view for the mobile robot without any blind region. This configuration ensures the AGV to identify anything inside the scanning area instantaneously. This study compares the TRAP configuration with the traditional configuration that the 2D LRF is positioned centred on the front and the rear for 'G-Mapping' SLAM method. Comparison tests are achieved under ROS (Robot Operating System) environment and results shows that TRAP configuration achieves better performance over the traditional configuration and these results are given for benchmarking.",

author = "Osman Ervan and Onur Sencan and Hakan Temeltas",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016 ; Conference date: 30-11-2016 Through 02-12-2016",

year = "2017",

month = jan,

day = "10",

doi = "10.1109/RoboMech.2016.7813154",

language = "English",

series = "2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016",

address = "United States",

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Ervan, O, Sencan, O & Temeltas, H 2017, Transversal positioned (TRAP) 2D laser range finder configuration. in 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016., 7813154, 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016, Institute of Electrical and Electronics Engineers Inc., 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016, Stellenbosch, South Africa, 30/11/16. https://doi.org/10.1109/RoboMech.2016.7813154

Transversal positioned (TRAP) 2D laser range finder configuration. / Ervan, Osman; Sencan, Onur; Temeltas, Hakan.
2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016. Institute of Electrical and Electronics Engineers Inc., 2017. 7813154 (2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - Transversal positioned (TRAP) 2D laser range finder configuration

AU - Ervan, Osman

AU - Sencan, Onur

AU - Temeltas, Hakan

PY - 2017/1/10

Y1 - 2017/1/10

N2 - This paper propose a new position configuration for 2D laser range finders (LRF) on mobile robots for simultaneous localization and mapping (SLAM) algorithms. In this study, a pair of 2D LRFs with 270°scanning range are replaced with exterior corresponding angles to the front left/right and rear right/left of the vehicle. This configuration is named as TRAnsversal Positioned (TRAP) and offers a 360°angle of field of view for the mobile robot without any blind region. This configuration ensures the AGV to identify anything inside the scanning area instantaneously. This study compares the TRAP configuration with the traditional configuration that the 2D LRF is positioned centred on the front and the rear for 'G-Mapping' SLAM method. Comparison tests are achieved under ROS (Robot Operating System) environment and results shows that TRAP configuration achieves better performance over the traditional configuration and these results are given for benchmarking.

AB - This paper propose a new position configuration for 2D laser range finders (LRF) on mobile robots for simultaneous localization and mapping (SLAM) algorithms. In this study, a pair of 2D LRFs with 270°scanning range are replaced with exterior corresponding angles to the front left/right and rear right/left of the vehicle. This configuration is named as TRAnsversal Positioned (TRAP) and offers a 360°angle of field of view for the mobile robot without any blind region. This configuration ensures the AGV to identify anything inside the scanning area instantaneously. This study compares the TRAP configuration with the traditional configuration that the 2D LRF is positioned centred on the front and the rear for 'G-Mapping' SLAM method. Comparison tests are achieved under ROS (Robot Operating System) environment and results shows that TRAP configuration achieves better performance over the traditional configuration and these results are given for benchmarking.

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DO - 10.1109/RoboMech.2016.7813154

M3 - Conference contribution

AN - SCOPUS:85011964888

T3 - 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016

BT - 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016

Y2 - 30 November 2016 through 2 December 2016

ER -

Ervan O, Sencan O, Temeltas H. Transversal positioned (TRAP) 2D laser range finder configuration. In 2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016. Institute of Electrical and Electronics Engineers Inc. 2017. 7813154. (2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference, PRASA-RobMech 2016). doi: 10.1109/RoboMech.2016.7813154

Transversal positioned (TRAP) 2D laser range finder configuration

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Bibliyografik not

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