基于激光雷达的移动机器人实时位姿估计算法

Real-time Pose Estimation by Using Laser Scans for Mobile Robot

提出一种基于二维激光雷达的移动机器人实时位姿估计算法。该算法首先将环境数据聚类为不同的障碍物，然后利用障碍物的特征匹配来关联相邻2帧的障碍物，最后通过优化位置序列间的方向角实现机器人的位姿估计。与ICP（迭代最近点）算法对比验证表明：该算法与ICP具有相同数量级的位姿估计精度，且明显提高了计算效率。

This paper describes a real-time pose estimation method using laser scans for mobile robot.Based on the character-matching of obstacles clustered from environment data,the position and posture of robot are estimated by optimizing the direction of the registered obstacles between the position sequences.The contrastive experiments with ICP method show that the new method can accomplish the task effectively and more efficiently.