Scan-to-map matching using the Hausdorff distance for robust mobile robot localization

2008 ◽  
Author(s):  
M. Torres-Torriti ◽  
A. Guesalaga
Keyword(s):  
Mobile Robot ◽  
Hausdorff Distance ◽  
Map Matching ◽  
Robot Localization ◽  
Mobile Robot Localization

scholarly journals Application of the Motion Capture System to Estimate the Accuracy of a Wheeled Mobile Robot Localization

Energies ◽  
2020 ◽  
Vol 13 (23) ◽  
pp. 6437
Author(s):  
Sebastian Dudzik
Keyword(s):  
Mobile Robot ◽  
Motion Capture ◽  
Hausdorff Distance ◽  
Path Following ◽  
Calibration Method ◽  
Wheeled Mobile Robot ◽  
Robot Localization ◽  
Motion Capture System ◽  
Optical Motion ◽  
Mobile Robot Localization

The paper presents research on methods of a wheeled mobile robot localization using an optical motion capture system. The results of localization based on the model of forward kinematics and odometric measurements were compared. A pure pursuit controller was used to control the robot’s behaviour in the path following tasks. The paper describes a motion capture system based on infrared cameras, including the calibration method. In addition, a method for determining the accuracy of robot location using the motion capture system, based on the Hausdorff distance, was proposed. As a result of the research it was found that the Hausdorff distance is very useful in determining the accuracy of localization of wheeled robots, especially those described by differential drive kinematics.

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization

LMI Methods for Extended ℋ∞ Filters for Landmark-based Mobile Robot Localization

2021 ◽  
Author(s):  
Julio Fajardo ◽  
Victor Ferman ◽  
Jabes Guerra ◽  
Antonio Ribas Neto ◽  
Eric Rohmer
Keyword(s):  
Mobile Robot ◽  
Robot Localization ◽  
Mobile Robot Localization

scholarly journals Calibration of ultrasonic sensors of a mobile robot

2009 ◽  
Vol 6 (3) ◽  
pp. 427-437 ◽  
Author(s):  
Ivan Paunovic ◽  
Darko Todorovic ◽  
Miroslav Bozic ◽  
Goran Djordjevic
Keyword(s):  
Signal Processing ◽  
Mobile Robot ◽  
Calibration Procedure ◽  
Ultrasonic Sensor ◽  
Robot Localization ◽  
Ultrasonic Sensors ◽  
Nonlinear Characteristics ◽  
Mobile Robot Localization

The paper discusses a mobile robot localization. Due to cost and simplicity of signal processing, the ultrasonic sensors are very suitable for this application. However, their nonlinear characteristics requires thorough calibrating procedure in order to achieve reliable readings from the obstacles around the robot. Here we describe SMR400 ultrasonic sensor and its calibration procedure. The suggested calibration procedure was tested through a number of experiments, and the results are presented in this paper. .

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