Departmental Papers (CIS)

Date of this Version

May 2002

Document Type

Conference Paper


Copyright 2002 IEEE. Reprinted from Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), Volume 3, pages 3081-3086.
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This paper presents a sensor based algorithm for guiding a nonholonomic platform, such as a wheelchair, through a doorway. The controller uses information from a camera system and a laser range finder to perform image-based navigation. Simulations of the resultant switching controller are presented along with experimental results. A simple obstacle avoidance algorithm is also implemented on the experimental platform. Finally, we have considered the input of limited field-of-view constraints on this controller. All of these components together lead to a modal, image-based approach that will safely and robustly navigate a nonholonomic robot with sensor constraints through a doorway.


computer vision, laser ranging, navigation, sensor fusion, image-based approach, image-based navigation, laser range finder, nonholonomic vehicle, obstacle avoidance algorithm, sensor based door navigation, sensor constraints, switching controller, wheelchair



Date Posted: 15 November 2004

This document has been peer reviewed.