Calibrated localization with 2-D laser range finder for indoor mobile robots

摘要

We propose a new calibrated localization method with 2-D laser range finder for indoor mobile robots. Localization is an essential area to recognize where it is for mobile robots' navigation. All localization methods need several precise sensors to obtain information from environment. However, data from sensors have errors inevitably. In this paper, a new pre-processing method of calibration is suggested to decrease errors by calibrating the measured range data. A set of smooth functions with equal intervals is utilized, and the coefficients of functions are determined from the least square fitting. Utilizing this calibration method, a local localization can give more accurate result, which is shown by experiments.