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Scan matching is one of the most important tasks that must be solved to achieve simultaneous localization and mapping with autonomous mobile robots. This paper shows the development and results of a new 3D scan matching algorithm based on the Normal Distribution Transform and the bio-inspired optimization algorithm Differential Evolution. Different tests have been carried out to show the good performance...
One of the most demanding skills for a mobile robot is to be intelligent enough to know its own location. The global localization problem consists of obtaining the robot’s pose (position and orientation) in a known map if the initial location is unknown. This task is addressed applying evolutionary computation concepts (Differential Evolution). In the current approach, the distances obtained from...
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