Laser Based Localization Techniques for Indoor Mobile Robots

Author

Tamas, Levente ; Lazea, Gheorghe ; Popa, Mircea ; Szoke, Istvan ; Majdik, Andras

Author_Institution

Autom. Dept., Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania

fYear

2009

fDate

22-26 July 2009

Firstpage

169

Lastpage

170

Abstract

The localization problem in indoor environment based on LIDAR measurements is analyzed in this paper. Practical aspects of the localization are discussed including the implementations of the state estimation and registration algorithms. The localization framework developed is sufficient generic to be used in a variety of other autonomous vehicles. The results of the proposed navigation algorithms demonstrate a reliable and accurate position estimation for autonomous vehicles operating in a variety of environments.

Keywords

laser ranging; mobile robots; optical radar; position control; LIDAR measurements; autonomous vehicles; indoor mobile robots; laser based localization techniques; position estimation; registration algorithms; state estimation algorithms; Error correction; Indoor environments; Laser modes; Laser radar; Mobile robots; Navigation; Remotely operated vehicles; Robot sensing systems; State estimation; Uncertainty; Mobile robots; laser scan alignment; localization; state estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Technologies for Enhanced Quality of Life, 2009. AT-EQUAL '09.

Conference_Location

Iasi

Print_ISBN

978-0-7695-3753-5

Type

conf

DOI

10.1109/AT-EQUAL.2009.43

Filename

5231092