Outdoor Mobile Robot Localization Algorithm using Line/Arc Features based on Laser Range Finders and 2½D Map

Abstract: An accurate outdoor localization method using line/arc features is suggested for mobile robots with LRFs (Laser Range Finders) and odometry. Localization is a key process for outdoor mobile robots which are used for autonomous navigation, exploration and so on. In this paper, an accurate pose correction algorithm is proposed for mobile robots using LRFs, which use three feature types: line, circle, and arc. Using this method we can reduce the number of singular cases that robots couldn't find their pose. Finally we have got simulation results to validate the proposed algorithm.Keywords: line/arc feature, outdoor localization, mobile robot, LRF Copyright© ICROS 2012 1. [8].Fig.1.Outdoor representation [8].I. 서론   !"#$ %.  &'()#*+,- ./01(#232/4567 89:!" ; 0<2 ?:@AB %. C(?D@EF4GHI2JKLM NO PQRSTUVH %. #,WQRSTU2XYZ[C\, JKLQ]9 ^ _U?`a0bQ]?cFdefghO$ij2Bkl %. CBkOmn#@#**C?,o pq(rfRsGH tuv dw%[1,2]. xvy zy4,{4LO PGHfR$|PR?%}o ~6#*s@ABy zy4,{4LO P) ?: €%[3-5]. xv, E‚Bhƒ„   , Sohny zy4,{4LM NeN†]F‡ˆk‰(sequential least squares) ŠwU‹(r#*n!ŒNOŽj,-, -SLAM(01#‘w[6], Bae2Sohn y zy4,{4LM NeN’(#2GH(

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