A Laser Radar Based Mobile Robot Localization Method

被引：0
作者：
Liu, Tingting [1 ]
Zhang, Wei [1 ]
Gu, Jason [1 ,2 ]
Ren, Hongliang [3 ]
机构：
[1] Shandong Univ, Sch Control Sci & Engn, Jinan 250100, Peoples R China
[2] Dalhousie Univ, Dept Elect & Comp Engn, Halifax, NS, Canada
[3] Natl Univ Singapore, Dept Bioengn, Singapore 117548, Singapore
来源：
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2013年
关键词：
D O I：
暂无
中图分类号：
Q [生物科学];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
Localization is the premise and basis for a mobile robot to accomplish tasks in an unknown environment. This paper presents a method to localize the mobile robot by using a Laser Radar. A PLICP-based scan matching method is adopted to register the neighboring two laser scans to determine the relative positions from which the scans were obtained. The global position of the mobile robot is obtained by transforming the relative position into the coordinate system of the environment. Experimental results demonstrate the effectiveness of the proposed method.
引用
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页码：2511 / 2514
页数：4
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