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Evaluation of two-dimensional angular orientation of a mobile robot by a modified algorithm based on Hough Transform
Автор | Алдошкин, Д. Н. | |
Автор | Царев, Р. Ю. | |
Дата внесения | 2019-07-01T07:30:11Z | |
Дата, когда ресурс стал доступен | 2019-07-01T07:30:11Z | |
Дата публикации | 2018-04 | |
Библиографическое 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. 112-122 | |
ISSN | 13119702 | |
URI (для ссылок/цитирований) | http://www.cit.iit.bas.bg/CIT_2018/CIT_18-2.html | |
URI (для ссылок/цитирований) | https://elib.sfu-kras.ru/handle/2311/111510 | |
Аннотация | 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. | |
Тема | Angular orientation | |
Тема | Hough transform | |
Тема | Mobile robot | |
Тема | Path planning | |
Тема | Simultaneous Localization And Mapping (SLAM) | |
Название | Evaluation of two-dimensional angular orientation of a mobile robot by a modified algorithm based on Hough Transform | |
Тип | Journal Article | |
Тип | Journal Article Preprint | |
Страницы | 112-122 | |
ГРНТИ | 28.23.27 | |
Дата обновления | 2019-07-01T07:30:11Z | |
DOI | 10.2478/cait-2018-0032 | |
Институт | Институт космических и информационных технологий | |
Подразделение | Кафедра информатики | |
Журнал | Cybernetics and Information Technologies | |
Квартиль журнала в Scopus | Q3 | |
Квартиль журнала в Web of Science | без квартиля |