Laser scan matching for self-localization of a walking robot in man-made environments

Purpose – The purpose of this paper is to describe a novel application of the well‐established 2D laser scan‐matching technique for self‐localization of a walking robot. The techniques described in this paper enable a walking robot with a 2D laser scanner to obtain precise maps of man‐made environments, which can be useful in search and reconnaissance missions, e.g. in warehouses, production plants, and other industrial areas.Design/methodology/approach – The presented system combines two scan‐matching algorithms (PSM and PLICP) to deal with low‐quality range data from a compact laser scanner and to provide robust self‐localization in various types of man‐made environments. Data from proprioceptive sensors and simplifying assumptions holding in man‐made environments are exploited to compensate for the varying attitude of the walking robot, particularly in uneven terrain.Findings – The experimental results suggest that neglecting either the poor initial pose guess obtained from the legged odometry, or the ...