Naslov
Heuristic optimization for global scan matching with focused sonar on a mobile robot

Autori
Lenac, Kristijan ; Mumolo, Enzo ; Nolich, Massimiliano

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

ISBN
953-7138-05-4

Skup
Information technology interfaces 2006

Mjesto i datum
Cavtat, Hrvatska, 19.06.2006. - 22.06.2006

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
mobile robotics; scan matching; localization; heuristic optimization; focused sonar

Sažetak
This paper describes a scan matching algorithm for performing relative localization in mobile robotics. The algorithm is composed by an estimation phase performed by exhaustive or heuristic optimizations and by a final optimization phase using a closed-form expression. The result of the first phase is to obtain a sub- optimal solution by reaching a local minimum of the objective function, and the result of the closed-form expression is to improve the local minimum. The two types of optimizations used in the first phase, namely an exhaustive and an heuristic approach are compared. It is shown that the different solutions bring to a trade-off in performance and computation time.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA