Longyun Zhao, Hongjun San, Jiupeng Chen, Zhen Peng. Laser Location of Mobile Robot Based on ICP Algorithm[J]. Laser & Optoelectronics Progress, 2024, 61(8): 0811001

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- Laser & Optoelectronics Progress
- Vol. 61, Issue 8, 0811001 (2024)

Fig. 1. Block diagram of location method

Fig. 2. Schematic of multi-resolution search

Fig. 3. ICP algorithm principle

Fig. 4. Submap construction

Fig. 5. Schematic of multi-point cloud density matching

Fig. 6. Diagram of pose cutting

Fig. 7. Experimental facility

Fig. 8. Relocation experiment. (a) Experimental environment; (b) distance image

Fig. 9. Relocation error. (a) Point A; (b) point B; (c) point C; (d) point D

Fig. 10. Location estimation experiment. (a) Robot path; (b) positioning trajectory of different algorithms

Fig. 11. Positioning accuracy error. (a) Proposed method; (b) Cartographer; (c) Gmapping
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Table 1. Comparison of location estimation efficiency
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Table 2. Comparison of positioning estimation error
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Table 3. RPLIDAR A1 lidar parameter
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Table 4. Relocation error comparison
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Table 5. Comprehensive comparison of positioning errors among three algorithms

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