Map-based Robust Localization for Indoor Mobile Robots

被引：0

作者：

Song Jianchao ^{[1
,2
]}

Zhang Xuebo ^{[1
,2
]}

Sun Lei ^{[1
,2
]}

Liu Jingtai ^{[1
,2
]}

机构：

[1] Nankai Univ, Inst Robot & Automat Informat Syst, Tianjin 300353, Peoples R China

[2] Tianjin Key Lab Intelligent Robot, Tianjin, Peoples R China

来源：

PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年

基金：

中国国家自然科学基金;

关键词：

Monte-Carlo Localization; Motion Detection; Scan Matching; Indoor Environment; Robot Operating System;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Standard Monte-Carlo Localization (MCL) cannot work well in dynamic environments and it usually requires a large number of particles to obtain stable and accurate pose information. To cope with these issues, this paper proposes an improved MCL approach inspired by motion detection and scan matching for robust localization of indoor mobile robots. Different from standard MCL, the proposed approach incorporates a motion detection module to handle dynamic environments, and it also considers the ray tracing characteristics of each laser beam to optimize the particle distribution. The proposed approach is implemented under Robot Operating System (ROS), and comparative experimental results are provided to illustrate the superior performance of the proposed approach.

引用

页码：6945 / 6950

页数：6

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