Localization of Mobile Robots by NDT Laser Scan Matching Algorithm
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摘要: 提出一种将基于扫描匹配的蒙特卡洛定位方法，作为移动机器人完成自主任务的鲁棒性定位方法．采用一种新的正态分布转换（NDT）激光扫描匹配算法，将从单个激光扫描重构的2D离散数据点集转换成2维平面内分段连续可微的概率分布，并使用Hessian矩阵法与另外的扫描相匹配，可以避免点与点之间对应的复杂问题．实验结果表明，该定位算法可以利用自然环境特征有效地完成室内环境下的自主定位．
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关键词:
- 扫描匹配 /
- 定位 /
- 正态分布转换（NDT） /
- 蒙特卡洛定位（MCL）
Abstract: Monte Carlo localization scheme with a scan matching algorithm is suggested as a robust localization method for mobile robots to accomplish their tasks autonomously.A normal distributions transform(NDT) which is a new approach to laser scan matching is applied to the scan matching algorithm,and this scan matching method transforms the discrete set of 2D points reconstructed from a single scan into a piecewise continuous and differentiable probability distribution defined on the 2D plane,which can be used to match another scan by using Hessian Matrix.Thereby,no point to point correspondences have to be established.Experimental results show that the robot is able to accomplish localization autonomously in an indoor environment using the natural environmental characteristics. -
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