Mobile robot self-localization by matching successive laser scans via genetic algorithms

被引：0
|
作者：
Martínez, JL [1 ]
机构：
[1] Univ Malaga, Dept Syst Engn & Automat, Ind Engn Sch, Malaga 29013, Spain
来源：
INTELLIGENT COMPONENTS AND INSTRUMENTS FOR CONTROL APPLICATIONS 2003 | 2003年
关键词：
mobile robots; position estimation; genetic algorithms; range finders; data fusion;
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：
This paper proposes the employment of genetic algorithms to accurately match consecutive laser scans taken from a mobile robot. The procedure presented takes advantage of this powerful search tool to obtain reliable translational and rotational displacements of a vehicle in real-time. In this way, it is possible to substantially improve the incremental localization given by trajectory-integration. This new technique has been successfully applied to the tracked mobile robot Auriga-alpha for navigation without a map in two-dimensional environments. Copyright (C) 2003 IFAC.
引用
收藏
页码：73 / 79
页数：7
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