Three-dimensional localization and mapping for a crawler-type mobile robot in an occluded area using the scan matching method
作者： H. Ishida , K. Nagatani , Y. Tanaka
DOI: 10.1109/IROS.2004.1389393
关键词:
摘要: In the fields of urban search and rescue (USAR), it is important that crawler-type mobile robots explore occluded areas (collapsed buildings, underground shopping centers, etc.) in preference to workers from point view safety. To map such an environment, for localize their position pose. this paper, we propose two three-dimensional localization algorithms robots. The algorithm based on "three-dimensional scan-matching" using laser range finder information. Several experiments our robot verifies validity limitation method a simulated disaster environment.
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