A Robust and Accurate SLAM Algorithm for Omni-Dircetional Mobile Robots Based on a Novel 2.5D Lidar Device
文献类型：会议论文
| 作者 | Yang, Yu; Yang, Guilin; Tian, Yingzhong; Zheng, Tianjiang; Li, Long; Wang, Zhenhua |
| 出版日期 | 2018 |
| 会议日期 | MAY 31-JUN 02, 2018 |
| 英文摘要 | Lidars are commonly employed in mobile robot SLAM applications due to their high stability and high measuring accuracy. For a conventional 2D Lidar, only the planar points can be detected in once scan, which limits the robustness of SLAM algorithms. Omni-directional mobile robots with powered caster wheels have 3-DOF planar motion capabilities so that they are widely deployed in narrowly constrained environment. This paper presents a novel design of a 2.5D Lidar device, in which a 2D Lidar is mounted onto a 1-DOF liner stage that moves along the vertical direction. As a result, the 2.5D Lidar device can also perform vertical scanning within the motion range of the liner stage. Consequently, a robust SLAM algorithm based on the 2.5D Lidar device is proposed for the omni-directional mobile robot, where a frame-to-frame scan matching using ICP algorithm is employed to improve the robustness and accuracy of the scan matching. As the 2.5D points cloud is actually located in a belt-shaped space, the map can be finally constructed in a 2D mode to reduce the computational complexity. In addition, when an incorrect matching occurs, the odometry information of the mobile robot will be employed to further improve the robustness and accuracy of the scan matching algorithm. The effectiveness of the proposed approach is validated through computer simulations. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-5386-3758-6 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23334]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Yang, Yu,Yang, Guilin,Tian, Yingzhong,et al. A Robust and Accurate SLAM Algorithm for Omni-Dircetional Mobile Robots Based on a Novel 2.5D Lidar Device[C]. 见:. MAY 31-JUN 02, 2018. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。