Study on Localization for Rescue Robots Based on NDT Scan Matching

摘要：

This paper studied the localization problem for a rescue robot based on laser scan matching and extended Kalman filtering (EKF). Scan matching method based on normal distribution transform (NDT) can avoid hard feature extraction problem by estimation of the probability distribution of laser scan data and localization can be achieved using correlation of the NDT. Based on NDT scan matching, the NDT-EKF algorithm has been proposed , which realizes fast and precise localization in rescue environment by fusing odometery data and scan matching together. The NDT-EKF algorithm has been extensively tested and experimental results show its effectiveness and robustness.

关键词： Rescue robots Robot localization Scan matching Normal distribution transform

作者: Jinliang Li Jihua Bao Yan Yu

作者单位: School of Mechatronics Engineering Shandong University of Science and Technology Qingdao,China 266510

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-5

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）