ZHENG Hong, WANG Jing-chuan, CHEN Wei-dong. Map-based Self-localization and Navigation System for Mobile Robots[J]. ROBOT, 2007, 29(4): 397-402.
Citation: ZHENG Hong, WANG Jing-chuan, CHEN Wei-dong. Map-based Self-localization and Navigation System for Mobile Robots[J]. ROBOT, 2007, 29(4): 397-402.

Map-based Self-localization and Navigation System for Mobile Robots

  • In order to solve the map-based large-scale space navigation problem of mobile robots,a navigation system is proposed which consists of three modules,including map editor,map matching and self-localization,and hierarchical planning. The map editor module takes charge of editing the navigation map,the map matching and self-localization module uses data from the odometer and laser scanner to realize robot self-localization based on matching between local and global maps,and the hierarchical planning module efficiently integrates such functions as global topological map-based planning,local grid map-based planning,and low-level behavior control.Experiments of indoor self-localization and navigation in a large-scale space are made to evaluate the validity and accuracy of the proposed system.
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