A Corner and Straight line Matching Localization Method for Family Indoor Monitor Mobile Robot
The hybrid localization method of straight line matching, corner matching and odometry is proposed to resolve the difficult localization problems of mobile robot operating in family indoor environment. Localization of robot is a challenge problem which involves of determining robot positioning relative to objects in the environment. The system is implemented using National Instrutment Labview platform to gain satisfied real time performance with CompactRIO support. Robot detects environment using a 2D laser range finder with TCP/IP protocol. Line feature extraction process include area divided, iterative end point fit (IEPF) and a least square technique is introduced. Based on line feature, straight lines and corners as geometry features are obtained. The detected straight lines and corners are matched with the global straight lines and corners to obtain the robot position/orientation value. The odometry localization algorithm, straight line localization algorithm and corner localization algorithm are discussed. Different weight values are distributed to straight lines, corner and odometry according to the error model. As a result stable localization is achieved with position and orientation resolution as 50mm, 5 degree. A good performance for the method is also achieved with cycle time as 120ms. Experiment shows the effectiveness of the hybrid localization method.
Straight line matching Corner matching Localization Laser range finder Odometry
Fusheng Tan Jun Yang Jianming Huang Weidong Chen Wei Wang Jingchuan Wang
Central Academe Shanghai Electric Group co. LTD No. 960 Zhongxing Rd,Shanghai,China School of Electronics,Information and Electrical Engineering Shanghai Jiaotong University No. 800 Do
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）