Robust robot localization based on the perfect match algorithm

Sobreira, Héber; Pinto, Miguel; Moreira, António Paulo G. M.; Costa, Paulo Gomes da; Lima, José

http://hdl.handle.net/10198/15661

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Authors

Sobreira, Héber

Pinto, Miguel

Moreira, António Paulo G. M.

Costa, Paulo Gomes da

Lima, José

Abstract(s)

Self-localization of a robot in an indoor plant is one of the most important requirement in mobile robotics. This paper addresses the application and improvement of a well known localization algorithm used in Robocup Midsize league competition in real service and industrial robots. This new robust approach is based on modeling the quality of several measures and minimizing the maching error. The presented innovative work applies the robotic football knowledge to other fields with high accuracy. Real and simulated results allow to validate the proposed methodology.

Keywords

2D matching AGV Laser range finder Mobile robot Service robots

URI

http://hdl.handle.net/10198/15661

Citation

Sobreira, Héber; Pinto, Miguel; Moreira, António Paulo; Costa, Paulo Gomes; Lima, José (2015). Robust robot localization based on the perfect match algorithm. Lecture Notes in Electrical Engineering. ISBN 9783319103792. 321 LNEE, p. 607-616