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1、Proceedingsofthe2009IEEEInternationalConferenceonNetworking,SensingandControl,Okayama,Japan,March26-29,2009LaserSensorBasedRoadBoundaryRecognitionofMobileRobotZhengweiHu,HongboWang*,LiliZhangandHongnianYuaccomplishtheroadline-shaperecognition,thelasersensorAbstract—Thispaper
2、presentsanewmethodofapplyinglasersensortoobtainroadboundarypointsinordertosolvetheonlyobtainsaseriesofdiscretedata,moreover,thesedataroaddetectionproblemsofoutdoorcleaningmobilerobot.Thismustmatchwiththeenvironmentmap.Forsberg[9]proposedmethodmakesfulluseoftheadvantagesoflas
3、ersensorandanalgorithmnamedRangeWeightedHoughTransformrealizestherecognitionofroaddetectioninreal-time.Theroad(RWHT),inwhichlinesegmentinformationcorrespondingboundaryrecognitionalgorithmincludingthefeaturetotheplaneoftherobotnavigationenvironmentsuchasextractionandcoordinat
4、ecalculationisproposed.Thelinearfittingandcurvefittingusingleastsquaremethodaredescribed.hallwaysandwallswasextractedfromthedatacollectedbyFinally,anexperimentisconductedusingamobilerobotandthelasersensor.Arrasdividedthediscretedataintodifferenttheexperimentalresultshowsthep
5、roposedmethodtobeclassesandusedMahalanobisdistancematrixtoextractlineeffective.segmentinformationbyclusteringalgorithm.Finally,theexperimentalresultsprovedtobeeffective[10].I.INTRODUCTIONInthelatestyears,theresearchesofservicerobotcontrolTHEnavigationofmobilerobotshasbecomeo
6、neofthesystemhaveincreasinglybecomeanewfocusinroboticsmostactiveresearchtopicsinthedomainofroboticsfieldandmanyresearchachievementscameforth.recently,whileroadrecognitionandtrackingaretheprimaryTheoutdoorservicerobotscalledOSR-01andOSR-02prerequisitetosolvethisproblem.Inthep
7、asttenyears,developedbyTakeshi[11]werepresentlyunderdevelopmentseveralroadrecognitionandtrackingsystemshavebeenintendedforcleaningupurbanareasbymeansofcollectingdevelopedsuccessfully,someofwhicharetypical,suchasdiscardedtrashsuchasplasticbottles,cans,plasticbagsandLOISsystem
8、,GOLDsystem,SCARFsystemandALVINNsoon.TherobotOSR-02consistedofhardwaresucha
