智能技术学报

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稿件标题: C-LOG: A Chamfer distance based algorithm for localisation in occupancy grid-maps
稿件作者: Lakshitha Dantanarayana, Gamini Dissanayake, Ravindra Ranasinge
关键字词: Robot localisation; Distance functions; Chamfer distance; Optimisation; Sensor models; Environment representation
文章摘要: A novel algorithm for localising a robot in a known two-dimensional environment is presented in this paper. An occupancy grid representing the environment is first converted to a distance function that encodes the distance to the nearest obstacle from any given location. A Chamfer distance based sensor model to associate observations from a laser ranger finder to the map of the environment without the need for ray tracing, data association, or feature extraction is presented. It is shown that the robot can be localised by solving a non-linear optimisation problem formulated to minimise the Chamfer distance with respect to the robot location. The proposed algorithm is able to perform well even when robot odometry is unavailable and requires only a single tuning parameter to operate even in highly dynamic environments. As such, it is superior than the state-of-the-art particle filter based solutions for robot localisation in occupancy grids, provided that an approximate initial location
收录刊物: 2016年1卷3期
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