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dc.contributor.authorOlvera Hale, Tomas-
dc.coverage.spatialEvent: SPIE Optical Engineering + Applications, 2020, Online Onlyes_ES
dc.date.accessioned2021-02-06T02:03:10Z-
dc.date.available2021-02-06T02:03:10Z-
dc.date.issued2020-08-
dc.identifier.citationTomás Olvera, Ulises Orozco-Rosas, Kenia Picos, "Mapping and navigation in an unknown environment using LiDAR for mobile service robots," Proc. SPIE 11509, Optics and Photonics for Information Processing XIV, 1150905 (21 August 2020);es_ES
dc.identifier.issn10.1117/12.2568133-
dc.identifier.urihttps://repositorio.cetys.mx/handle/60000/954-
dc.description.abstractThis paper presents the implementation of mapping, localization, and navigation algorithms for a mobile service robot in an unknown environment. The implementation uses a 3D LiDAR sensor to detect the environment and map an occupancy grid that allows global localization and navigation through the environment. The robot estimates the current position through the Monte Carlo localization algorithm with LiDAR sensor and odometry data. The navigation stack uses inflation to determine if the service robot can safely navigate through the environment, and avoid obstacles. Experimental results were considered using a simulated robot in an indoor environment without given prior knowledge of obstacles presented in the environment.es_ES
dc.language.isoen_USes_ES
dc.rightsAtribución-NoComercial-CompartirIgual 2.5 México*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/2.5/mx/*
dc.subjectNavigation algorithmses_ES
dc.subjectService robotes_ES
dc.titleMapping and navigation in an unknown environment using LiDAR for mobile service robotses_ES
dc.typePresentationes_ES
dc.contributor.aditionalOrozco Rosas, Ulises-
dc.contributor.aditionalPicos, Kenia-
dc.description.urlhttps://doi.org/10.1117/12.2568133es_ES
dc.subject.sedeCampus Ensenadaes_ES
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