Efficient autonomous global localization for service robots using dual laser scanners and rotational motion

Abstract

This study presents an alternative global localization scheme that uses dual laser scanners and the pure rotational motion of a mobile robot. The proposed method extracts the initial state of the robot's surroundings to select robot pose candidates, and determines the sample distribution based on the given area map. Localization success is determined by calculating the similarity of the robot's sensor state compared to that which would be expected at the estimated pose on the given map. In both simulations and experiments, the proposed method shows sufficient efficiency and speed to be considered robust to real-world conditions and applications.