Global localization based on corner point

Author

Zezhong, Xu ; Ronghua, Liang ; Jilin, Liu

Author_Institution

Dept. of Inf. Sci. & Electron. Eng., Zhejiang Univ., Hangzhou, China

Volume

2

fYear

2003

Firstpage

843

Abstract

Map matching is a type of popular localization approaches for mobile robot autonomous navigation in indoor environment. Global localization is to find the best correspondence between current local map and the global map. Local map and global map are represented with corner points that are sorted in counterclockwise. The relative position relation of corner points is computed in local and global map and used to search matched pairs. Map matching based on ordinal map improves the searching efficiency. Map matching based on relative position relation avoids frequent coordinates transformation. All these techniques have been implemented on our mobile robot ATRVII equipped with 2D laser range scanner SICK.

Keywords

laser ranging; mobile robots; navigation; optical scanners; position control; 2D laser range scanner; ATRVII; autonomous navigation; corner points representation; frequent coordinates transformation; global localization approach; local map; map matching; mobile robot; relative position relation; Distributed computing; Filtering; Kalman filters; Mobile computing; Mobile robots; Navigation; Orbital robotics; Robot kinematics; Robot sensing systems; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7866-0

Type

conf

DOI

10.1109/CIRA.2003.1222289

Filename

1222289