Be the first to like this
A new and fast methodology is discussed as a solution to pinpointing the location of a robot called RobVigil, in a robust way, without environment preparation, even in dynamic scenarios. This solution does not require a high computational power.Firstly, the EKF-SLAM is used to find the location of the vehicle, allowing to map the surrounding area in the 3D space. Afterwards, the constructed map is used in a 3D matching algorithm during the normal operation of the vehicle to pinpoint its location.The 3D matching algorithm uses data from a tilting Laser Range Finder. Experimental results on the performance and accuracy of the proposed method are presented in this paper.