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.
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© 2009 Springer-Verlag Berlin Heidelberg
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Sandberg, D., Wolff, K., Wahde, M. (2009). A Robot Localization Method Based on Laser Scan Matching. In: Kim, JH., et al. Advances in Robotics. FIRA 2009. Lecture Notes in Computer Science, vol 5744. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03983-6_21
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DOI: https://doi.org/10.1007/978-3-642-03983-6_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03982-9
Online ISBN: 978-3-642-03983-6
eBook Packages: Computer ScienceComputer Science (R0)