首页 | 本学科首页   官方微博 | 高级检索  
     


Localization algorithm using a virtual label for a mobile robot in indoor and outdoor environments
Authors:Ki Ho Yu  Min Cheol Lee  Jung Hun Heo  Youn Geun Moon
Affiliation:1.Department of Mechanical Engineering,Pusan National University,Busan, Geumjeong Gu,Republic of Korea
Abstract:Scanning laser range sensors provide range data consisting of a set of point measurements. The laser sensor URG-04LX has a distance range of approximately 0.02–4 m and a scanning angle range of 240°. Usually, such an image range is acquired from one viewpoint by “moving” the laser beam using rotating mirrors/prisms. The orientation of the laser beam can easily be measured and converted into the coordinates of the image. This article conducts localization using virtual labels with data about distances in the environment obtained from 2D distance laser sensors. This method puts virtual labels on special features and points which are along the mobile robot’s path. The current location is calculated by combining the virtual label and the range image of the laser range finder.
Keywords:
本文献已被 SpringerLink 等数据库收录!
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号