Evaluation of two-dimensional angular orientation of a mobile robot by a modified algorithm based on Hough Transform
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URI (для ссылок/цитирований):
http://www.cit.iit.bas.bg/CIT_2018/CIT_18-2.htmlhttps://elib.sfu-kras.ru/handle/2311/111510
Автор:
Алдошкин, Д. Н.
Царев, Р. Ю.
Коллективный автор:
Институт космических и информационных технологий
Кафедра информатики
Дата:
2018-04Журнал:
Cybernetics and Information TechnologiesКвартиль журнала в Scopus:
Q3Квартиль журнала в Web of Science:
без квартиляБиблиографическое описание:
Алдошкин, Д. Н. Evaluation of two-dimensional angular orientation of a mobile robot by a modified algorithm based on Hough Transform [Текст] / Д. Н. Алдошкин, Р. Ю. Царев // Cybernetics and Information Technologies. — 2018. — Т. 18 (№ 2). — С. 112-122Аннотация:
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.