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Mobile robot localization using the Hausdorff distance

Published online by Cambridge University Press:  01 March 2008

F. Donoso-Aguirre ,
J.-P. Bustos-Salas ,
M. Torres-Torriti  and
A. Guesalaga
F. Donoso-Aguirre
Affiliation:
Department of Electrical Engineering, Pontificia Universidad Católica de Chile, Vicuña Mackenna 4860, Casilla 306-22, Santiago, Chile.
J.-P. Bustos-Salas
Affiliation:
Department of Electrical Engineering, Pontificia Universidad Católica de Chile, Vicuña Mackenna 4860, Casilla 306-22, Santiago, Chile.
M. Torres-Torriti*
Affiliation:
Department of Electrical Engineering, Pontificia Universidad Católica de Chile, Vicuña Mackenna 4860, Casilla 306-22, Santiago, Chile.
A. Guesalaga
Affiliation:
Department of Electrical Engineering, Pontificia Universidad Católica de Chile, Vicuña Mackenna 4860, Casilla 306-22, Santiago, Chile.
*
*Corresponding author. E-mail: mtorrest@ing.puc.cl
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Summary

This paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation.

Keywords

Mobile robot localizationHausdorff distanceMap-matching
Type
Article
Information
Robotica , Volume 26 , Issue 2 , March 2008 , pp. 129 - 141
Copyright
Copyright © Cambridge University Press 2007

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