Localization for Large Mobile Platform Using Laser Radar
ZHAO Shuaifeng1, DUN Xiangming1, QIAN Jun1, SHEN Chao2, ZHANG Yulin3,4, LU Jinrong3, XU Beichen2
1. Robotics Institute, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Shanghai Academy of Spaceflight Technology, Shanghai 201108, China; 3. Jiuquan Satellite Launch Center in China, Jiuquan 732750, China; 4. National University of Defense Technology, Changsha 410073, China
Abstract：For the large mobile platform without position sensor,a localization system using laser radar is designed.The system extracts the features of line segments and landmarks in the environment using laser radar,and then uses the EKF (extended Kalman filter) algorithm for movement prediction and position amendment of the platform,thus the localization is completed.A large number of experiments prove the precision and reliability of the system.
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