سخنرانی آقای دکتر بهرام صادقی در تاریخ سه شنبه 19 اردیبهشت ماه ساعت15-13 دردانشکده علوم ریاضی اتاق سمینار (3401) برگزار می شود.
Autonomous control of a mobile robot is generally defined as control of robot motion to arrive at a given position in its environment without human intervention. This navigation task can be decomposed into the various aspects such as robot pose estimation (localization) and navigation. Robot localization in indoors environment, where environmental information is obtained by laser rangefinders which provide partial and simple information about surrounding of robots, is a challenging task. In this presentation, an attempt has been made to develop an algorithm equipped with geometric pattern registration techniques to perform exact, robust, and fast robot localization purely based on laser range data. The expected pose of the robot on a pre-calculated map is in the form of simulated sensor readings. In order to obtain the exact pose of the robot, segmentation of both real laser range and simulated laser range readings is performed. Critical points on two scan sets are extracted from the segmented range data, and thereby the pose difference is computed using polygon matching.