Study on localization for rescue robots based on NDT scan matching

Author

Li, Jinliang ; Bao, Jihua ; Yu, Yan

Author_Institution

Sch. of Mechatron. Eng., Shandong Univ. of Sci. & Technol., Qingdao, China

fYear

2010

fDate

20-23 June 2010

Firstpage

1908

Lastpage

1912

Abstract

This paper studied the localization problem for a rescue robot based on laser scan matching and extended Kalman filtering (EKF). Scan matching method based on normal distribution transform (NDT) can avoid hard feature extraction problem by estimation of the probability distribution of laser scan data and localization can be achieved using correlation of the NDT. Based on NDT scan matching, the NDT-EKF algorithm has been proposed, which realizes fast and precise localization in rescue environment by fusing odometery data and scan matching together. The NDT-EKF algorithm has been extensively tested and experimental results show its effectiveness and robustness.

Keywords

Kalman filters; feature extraction; mobile robots; normal distribution; path planning; service robots; NDT scan matching; NDT-EKF algorithm; extended Kalman filtering; feature extraction problem; laser scan matching; localization problem; normal distribution transform; odometery data; probability distribution; rescue environment; rescue robots; scan matching method; Feature extraction; Gaussian distribution; Kinematics; Laser modes; Laser theory; Navigation; Probability distribution; Robot localization; Robot sensing systems; Robotics and automation; Normal distribution transform; Rescue robots; Robot localization; Scan matching;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2010 IEEE International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-5701-4

Type

conf

DOI

10.1109/ICINFA.2010.5512205

Filename

5512205