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A hybrid sensing approach to mobile robot localization in complex indoor environments

Zhuang, Y and Wang, K and Wang, W and Hu, H (2012) 'A hybrid sensing approach to mobile robot localization in complex indoor environments.' International Journal of Robotics and Automation, 27 (2). 198 - 205. ISSN 0826-8185

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This paper presents a hybrid sensing system for mobile robot localization in large- cale indoor environments. The system operates in two sensing modes, either omni-directional vision or laser scanning, according to the environmental characteristics. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. For asemi-structured office room, the laser scanning mode is chosen to generate a sequence of relative pose transformations based on a scan matching algorithm. Kalman filters are deployed to smooth multiple scan matching results. The proposed hybrid sensing system can perform localization tasks on-the-fly, with the features of efficient map modelling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques.

Item Type: Article
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Users 161 not found.
Date Deposited: 10 Sep 2014 09:56
Last Modified: 23 Jan 2019 00:17

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