期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2011
卷号：8
期号：1
页码：7
DOI：10.5772/10525
语种：English
出版社：SAGE Publications
摘要：Global localization problem is one of the classical and important problems in mobile robot. In this paper, we present an approach to solve robot global localization in indoor environments with grid map. It combines Hough Scan Matching (HSM) and grid localization method to get the initial knowledge of robot's pose quickly. For pose tracking, a scan matching technique called Iterative Closest Point (ICP) is used to amend the robot motion model, this can drastically decreases the uncertainty about the robot's pose in prediction step. Then accurate proposal distribution taking into account recent observation is introduced into particle filters to recover the best estimate of robot trajectories, which seriously reduces number of particles for pose tracking. The proposed approach can globally localize mobile robot fast and accurately. Experiment results carried out with robot data in indoor environments demonstrates the effectiveness of the proposed approach.
关键词：robot localization; global localization; scan matching; pose tracking; particle filters
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