FIRA 2009: Advances in Robotics pp 171-178 | Cite as
A Robot Localization Method Based on Laser Scan Matching
Conference paper
Abstract
The problem of robot localization has been considered for applications (such as, for example, transportation and delivery) where the robot is given, a priori, a map of the arena in which it is operating. A localization method based on laser scan matching is described, in which localization is carried out using a simple stochastic search algorithm. The results from multiple experiments show that the proposed method can correct position errors of up to 0.7 m and, more importantly, also can correct errors in heading angle, thus achieving negligible heading errors in most cases.
Keywords
Robot localization laser scan matching robot pose estimationPreview
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