1A2-E14 Localization of a Mobile Robot by MCL Integrating Odometry and Scan Matching with Hough Transformation
Ryouichi Honda, Tatsuya IWANAGA, Hiroaki Ozaki · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2010
This paper discusses the Monte Carlo Localization (MCL) which integrates odometry and scan matching. The developed mobile control system has the parallel processing procedure such as localization, trajectory planning and navigation control. The scan matching algorithm efficiently finds the orientation of a mobile robot by using Hough Transformation. The proposed algorithm localizes a mobile robot more accurately by the MCL than by separate localization based on odometry or scan matching.