标题：A Laser Radar Based Mobile Robot Localization Method
作者：Liu, Tingting; Zhang, Wei; Gu, Jason; Ren, Hongliang
作者机构：[Liu, Tingting; Zhang, Wei; Gu, Jason] Shandong Univ, Sch Control Sci & Engn, Jinan 250100, Peoples R China.; [Gu, Jason] Dalhousie Univ, Dept Elect 更多
会议名称：IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期：DEC 12-14, 2013
来源：2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)
摘要：Localization is the premise and basis for a mobile robot to accomplish tasks in an unknown environment. This paper presents a method to localize the mobile robot by using a Laser Radar. A PLICP-based scan matching method is adopted to register the neighboring two laser scans to determine the relative positions from which the scans were obtained. The global position of the mobile robot is obtained by transforming the relative position into the coordinate system of the environment. Experimental results demonstrate the effectiveness of the proposed method.