Naslov
Fast genetic scan matching in mobile robotics

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

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni

Knjiga
Evolutionary Image Analysis and Signal Processing

Urednik/ci
Cagnoni, Stefano

Izdavač
Springer

Grad
Berlin

Godina
2009

Raspon stranica
133-152

ISBN
978-3-642-01635-6

Ključne riječi
mobile robotics, scan matching, genetic algorithm

Sažetak
In this chapter, we address the problem of aligning two partially overlapping two-dimensional maps represented by data sets acquired using range sensors. The measured data may be incomplete and noisy. To solve this problem, we used a genetic algorithm for minimizing an alignment error. A lookup-based fitness function was devised. The considered range devices are laser and focalized ultrasonic scanners. Scan matching is often considered for mobile robot displacement and/or pose estimation tasks. We experimentally show that the algorithm is robust against noise and incomplete measurements and that it can be used for both the mentioned tasks. Moreover, the proposed algorithm is suitable for both local and global robot pose estimation. Experimental results related to the convergence, accuracy and speed of the proposed algorithm with different coding approaches are reported. We compare our approach with other scan matching algorithms proposed in the literature, and we show that our approach is faster and more accurate than the others.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA