A method for tracking pose of a mobile robot equipped with a scanning laser range finder

被引：0
|
作者：
Dubrawski, A [1 ]
Siemiatkowska, B [1 ]
机构：
[1] Polish Acad Sci, Inst Fundamental Technol Res, PL-00049 Warsaw, Poland
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
One of the essential problems in navigation of a mobile robot is to accurately determine its location using data obtained with range sensors. In this paper we present a novel approach to tracking changes of orientation and position of a robot equipped with a scanning laser range finder and designed to work in partially structured environments. It is shown experimentally on a real robot that the proposed approach is more robust against sensory noise than the method of angle histograms, which is often used to track: orientation and position of indoor vehicles equipped with scanning range sensors.
引用
收藏
页码：2518 / 2523
页数：2
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