Title :
The localization of mobile robot based on laser scanner
Author :
Xiaowei, Zhou ; Khing, Ho Yeong ; Seng, Chua Chin ; Yi, Zou
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
This paper presents a localization procedure for mobile robot operating in an indoor cluttered environment. The proposed approach is based on the recognition of natural landmarks identified through laser scanner data. By detecting the break points in data set, the localization is experimented to correct position and orientation errors of robot and a simple estimator is used to do the updating. Experimental results have shown that the localization by breakpoints works well
Keywords :
measurement by laser beam; mobile robots; optical scanners; position measurement; breakpoints; indoor cluttered environment; laser scanner; mobile robot localization; natural landmark recognition; Data mining; Error correction; Feature extraction; Indoor environments; Instruments; Mobile robots; Robot kinematics; Robot sensing systems; Sonar; Testing;
Conference_Titel :
Electrical and Computer Engineering, 2000 Canadian Conference on
Conference_Location :
Halifax, NS
Print_ISBN :
0-7803-5957-7
DOI :
10.1109/CCECE.2000.849584
