CONTINUOUS LOCALIZATION OF A MOBILE ROBOT BASED ON 3D-LASER-RANGE-DATA, PREDICTED SENSOR IMAGES, AND DEAD-RECKONING

被引：24

作者：

HORN, J ^{[1
]}

SCHMIDT, G ^{[1
]}

机构：

[1] TECH UNIV MUNICH,DEPT AUTOMAT CONTROL ENGN,D-80290 MUNICH,GERMANY

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1995年 / 14卷 / 2-3期

关键词：

MOBILE ROBOT LOCALIZATION; STATISTICAL UNCERTAINTY EVOLUTION; SENSOR DATA FUSION; EXPERIMENTAL VALIDATION;

D O I：

10.1016/0921-8890(94)00023-U

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article describes the localization system of a free-navigating mobile robot. Absolute position and orientation of the vehicle are determined by matching vertical planar surfaces extracted from a 3D-laser-range-image with corresponding surfaces predicted from a SD-environmental model. Continuous localization is achieved by fusing single-image localization and dead-reckoning data by means of a statistical uncertainty evolution technique. Extensive closed-loop experiments with the full-scale mobile robot MACROBE proved robustness, accuracy and real-time capability of this localization scheme.

引用

页码：99 / 118

页数：20

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