Title :
Indoor and outdoor localization for fast mobile robots
Author :
Lingemann, Kai ; Surmann, Hartmut ; Nüchter, Andreas ; Hertzberg, Joachim
Author_Institution :
Fraunhofer-Inst. for Autonomous Intelligent Syst., St. Augustin, Germany
fDate :
28 Sept.-2 Oct. 2004
Abstract :
This paper describes a novel, laser-based approach for tracking the pose of a high-speed mobile robot. The algorithm is outstanding in terms of accuracy and computational time, being 33 times faster than real time. The efficiency is achieved by a closed form solution for the matching of two lasers scans, the use of natural landmarks and fast linear filters. The implemented algorithm is evaluated with the high-speed robot Kurt3D (4 m/s), and compared to standard scan matching methods in indoor and outdoor environments.
Keywords :
mobile robots; optical scanners; optical tracking; path planning; position control; Kurt3D; indoor localization; laser tracking; lasers scan; linear filter; mobile robot; natural landmark; outdoor localization; Closed-form solution; Computational intelligence; Intelligent robots; Intelligent systems; Matched filters; Mobile robots; Nonlinear filters; Robot sensing systems; Simultaneous localization and mapping; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389733
