A Laser Radar based mobile robot localization method

Localization is the premise and basis for a mobile robot to accomplish tasks in an unknown environment. This paper presents a method to localize the mobile robot by using a Laser Radar. A PLICP-based scan matching method is adopted to register the neighboring two laser scans to determine the relative positions from which the scans were obtained. The global position of the mobile robot is obtained by transforming the relative position into the coordinate system of the environment. Experimental results demonstrate the effectiveness of the proposed method.