Navigation of an outdoor service robot by matching 2D laser scans

Autonomous navigation of a mobile robot is a challenging task. Much work has been done in indoor navigation in the last 10-15 years. Fewer results have been obtained in outdoor robotics. Laser range finder technology has evolved remarkably over the last decade, and offers a fast and accurate method for navigation and environment modeling. It is obvious that the use of several alternative sensors, selected according to the environment, will make the navigation system more flexible. In this paper we describe a flexible navigation system for unknown outdoor environments. The system uses all available sensor information and emphasizes those that best suit the particular operation environment. The core of the navigation system is laser odometry, which is discussed in more detail.