Pregled bibliografske jedinice broj: 566336
Robust and Accurate Genetic Scan Matching Algorithm for Robotic Navigation
Robust and Accurate Genetic Scan Matching Algorithm for Robotic Navigation // Lecture Notes in Computer Science, 7101 (2011), 584-593 doi:10.1007/978-3-642-25486-4_58 (međunarodna recenzija, članak, znanstveni)
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Naslov
Robust and Accurate Genetic Scan Matching Algorithm for Robotic Navigation
Autori
Lenac, Kristijan ; Mumolo, Enzo ; Nolich, Massimiliano
Izvornik
Lecture Notes in Computer Science (0302-9743) 7101
(2011);
584-593
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
scan matching; genetic optimization; ICP; robotics
Sažetak
In this paper we propose a scan matching algorithm for robotic navigation based on the combination of ICP and genetic optimization. Since the genetic algorithm is robust but not very accurate, and ICP is accurate but not very robust, it is natural to use the two algorithms in a cascade fashion: first we run a genetic optimization to find an approximate but robust matching solution and then we run ICP to increase accuracy. The proposed genetic algorithm is very fast due to a lookup table formulation and very robust against large errors in both distance and angle during scan data acquisition. It is worth mentioning that large scan errors arise very commonly in mobile robotics due, for instance, to wheel slippage. We show experimentally that the proposed algorithm successfully copes with large localization errors.
Izvorni jezik
Engleski
Znanstvena područja
Računarstvo
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- Scopus
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