Initial localization for an indoor mobile robot using a laser range finder

Zhiyu Xiang; Jilin Liu

doi:10.1117/12.457441

18 February 2002 Initial localization for an indoor mobile robot using a laser range finder

Zhiyu Xiang, Jilin Liu

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457441
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

In this paper, a new method of initial localization for a mobile robot only employing a laser range finder is proposed. We accomplish this by the matching of Complete Line Segments (CLS) derived from current scan of range finder and the priori-map. The definition of Complete Line Segments (CLS) and Sub-Complete Line Segments (SLS) as well as their properties and decision rules are given. We confirm that, in the angle of theory, the initial localization can be accomplished even if only one pair of CLS can be matched exactly since the CLS represent some basic but complete features of the environment. So compare with other ways, this method has simpler principle and can easily be implemented with less computational costs. The whole process of initial localization for a mobile robot is described in detail. At last promising real-world experiments involving the initial localization modules on our ATRV2 mobile robot are described.

Citation Download Citation

Zhiyu Xiang and Jilin Liu "Initial localization for an indoor mobile robot using a laser range finder", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457441

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available