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A Grid-Based Monte Carlo Localization with Hierarchical Free-Form Scan Matching

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11741))

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Abstract

This paper is concerned with the localization problem of robot in unstable environment. To improve the accuracy of the localization result in the environment, a grid-based Monte Carlo localization algorithm with hierarchical free-form scan matching (MCL-HF) is proposed. In MCL-HF algorithm the distribution of the samples is adapted by the most recent observation. To simplify the process of the adaptation a feature-based scan-matching algorithm is adopted in the grid-based localization algorithm in a hierarchical free-form. The advantage of the proposed algorithm is demonstrated through the experiment results.

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Acknowledgement

This work is partially supported by National Key Research and Development Program of China under Grant 2017YFF0205306, National Nature Science Foundation of China under Grant 91648117, and Beijing Natural Science Foundation under Grant 4172055.

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Authors and Affiliations

  1. School of Automation, Beijing Institute of Technology, Beijing, 100081, China

    Mei Wu & Hongbin Ma

  2. Department of Automatic Control, Henan Institute of Technology, Xinxiang, 453000, China

    Xinghong Zhang

Authors
  1. Mei Wu
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  2. Hongbin Ma
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  3. Xinghong Zhang
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Corresponding author

Correspondence to Hongbin Ma .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Wu, M., Ma, H., Zhang, X. (2019). A Grid-Based Monte Carlo Localization with Hierarchical Free-Form Scan Matching. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_33

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  • DOI: https://doi.org/10.1007/978-3-030-27532-7_33

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27531-0

  • Online ISBN: 978-3-030-27532-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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