Environmental Information Processing Lidar-based Robot Localization / Navigation

This paper does research on a new rober-bogie mode of six-leg-wheeled intelligent mobile robot, this project use the laser measurement system(LMS221) to scan environment real time, and subset environment for mobile robot localization and navigation. Robot navigation which estimates position without prior information is very difficult, because the robot has no sensors to get an accurate environment map to sense locations. To overcome this issue, the robots is equipped with a laser measurement system for a means in which a subset of environment features can be precisely learned from the robot's initial location and map setting-up process. An algorithm is developed to extract feature lines from original data as environment features. The accumulated error has been eliminated by using data association and extended Kalman filter (EKF) based feature tracking technique. In addition, this paper designed photo electricity encoder sensor and magnetism course sensor measure circuit, and set up the laser measure system to communicate with the PC. In this way, it could satisfy the robot requirement of navigation. At last, this paper also primary use the laser measure system to scan the 3D objects to subset the plane feature for robot navigation. The result proves that the solution to robot localization and navigation is indeed possible and the method has higher computational efficiency and better localization accuracy.