Continuous mobile robot localization by using structured light and a geometric map

摘要: A mobile robot needs to know its position and orientation with accuracy in order decide the control actions that permit it finish entrusted tasks successfully. To obtain this information, dead-reckoning-based systems have been used, more recently inertial navigation systems. However, these some errors grow bigger as time goes by, therefore a moment comes when information provided is useless. Because of this, there should be periodic process updates vehicle. The determine by using originated from external sensors defined relocalization. It obvious greater frequency process, better knowledge will have, movements directed point must reach. algorithm achieve can classified two large groups: relocalization through an priori ...