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 ] School of Control Science and Engineering, Shandong University, Jinan, China;[Ren, Hongliang ] Department of B 更多
会议名称：2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
会议日期：12 December 2013 through 14 December 2013
来源：2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
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. © 2013 IEEE.