A Robot Localization Method Based on Laser Scan Matching

Authors:
David Sandberg;Krister Wolff;Mattias Wahde
Affiliations:
Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden 412 96;Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden 412 96;Department of Applied Mechanics, Chalmers University of Technology, Göteborg, Sweden 412 96
Venue:
Proceedings of the FIRA RoboWorld Congress 2009 on Advances in Robotics
Year:
2009

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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.