Robust Localization of the Mobile Robot Driven by Lidar Measurement and Matching for Ongoing Scene
Aiming at the localization problem of mobile robot in construction scenes, a hybrid localization algorithm with the adaptive weights is proposed, which can effectively improve the robust localization of mobile robot. Firstly, two indicators of localization accuracy and calculation efficiency are set...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/18/6152 |
| _version_ | 1797554546388500480 |
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| author | Zhen Xu Shuai Guo Tao Song Lingdong Zeng |
| author_facet | Zhen Xu Shuai Guo Tao Song Lingdong Zeng |
| author_sort | Zhen Xu |
| collection | DOAJ |
| description | Aiming at the localization problem of mobile robot in construction scenes, a hybrid localization algorithm with the adaptive weights is proposed, which can effectively improve the robust localization of mobile robot. Firstly, two indicators of localization accuracy and calculation efficiency are set to reflect the robustness of localization. Secondly, the construction scene is defined as an ongoing scene, and the robust localization of mobile robot is achieved by using the measurement of artificial landmarks and matching based on generated features. Finally, the experimental results show that the accuracy of localization is up to 8.22 mm and the most matching efficiency is controlled within 0.027 s. The hybrid localization algorithm that based on adaptive weights can realize a good robustness for tasks such as autonomous navigation and path planning in construction scenes. |
| first_indexed | 2024-03-10T16:33:43Z |
| format | Article |
| id | doaj.art-35a09384326b4b2da2e0b60b8e397a3f |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T16:33:43Z |
| publishDate | 2020-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-35a09384326b4b2da2e0b60b8e397a3f2023-11-20T12:35:11ZengMDPI AGApplied Sciences2076-34172020-09-011018615210.3390/app10186152Robust Localization of the Mobile Robot Driven by Lidar Measurement and Matching for Ongoing SceneZhen Xu0Shuai Guo1Tao Song2Lingdong Zeng3Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaAiming at the localization problem of mobile robot in construction scenes, a hybrid localization algorithm with the adaptive weights is proposed, which can effectively improve the robust localization of mobile robot. Firstly, two indicators of localization accuracy and calculation efficiency are set to reflect the robustness of localization. Secondly, the construction scene is defined as an ongoing scene, and the robust localization of mobile robot is achieved by using the measurement of artificial landmarks and matching based on generated features. Finally, the experimental results show that the accuracy of localization is up to 8.22 mm and the most matching efficiency is controlled within 0.027 s. The hybrid localization algorithm that based on adaptive weights can realize a good robustness for tasks such as autonomous navigation and path planning in construction scenes.https://www.mdpi.com/2076-3417/10/18/6152mobile robotrobust localizationmeasurement and matchingartificial landmarksongoing scenegenerated buildings |
| spellingShingle | Zhen Xu Shuai Guo Tao Song Lingdong Zeng Robust Localization of the Mobile Robot Driven by Lidar Measurement and Matching for Ongoing Scene Applied Sciences mobile robot robust localization measurement and matching artificial landmarks ongoing scene generated buildings |
| title | Robust Localization of the Mobile Robot Driven by Lidar Measurement and Matching for Ongoing Scene |
| title_full | Robust Localization of the Mobile Robot Driven by Lidar Measurement and Matching for Ongoing Scene |
| title_fullStr | Robust Localization of the Mobile Robot Driven by Lidar Measurement and Matching for Ongoing Scene |
| title_full_unstemmed | Robust Localization of the Mobile Robot Driven by Lidar Measurement and Matching for Ongoing Scene |
| title_short | Robust Localization of the Mobile Robot Driven by Lidar Measurement and Matching for Ongoing Scene |
| title_sort | robust localization of the mobile robot driven by lidar measurement and matching for ongoing scene |
| topic | mobile robot robust localization measurement and matching artificial landmarks ongoing scene generated buildings |
| url | https://www.mdpi.com/2076-3417/10/18/6152 |
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