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Autonomous localization is a primary and crucial issue in mobile robot navigation tasks. In this article, the long-distance robust localization problem of indoor mobile robots is studied and solved by a combination style of using a laser scanner and an odometer. Firstly, a point-to-line iterative closest point(PLICP) approach is adopted to match the successive environmental information collected by...
Perceiving the position and orientation of the mobile robot in environment is an important element for an autonomous robot. This paper presents a novel method in which the classical Hough transform is introduced into localization of the mobile robot. To reduce ambiguity significantly, an improved more detailed sonar model is utilized. Firstly a local geometric map in the Hough space is built via the...
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