This paper presents a localization system of mobile robot using LRF(laser range finder) in indoor environment. The system is composed of three main procedures: data pre-processing, laser scan data segmentation, searching target object, and localizatio...
This paper presents a localization system of mobile robot using LRF(laser range finder) in indoor environment. The system is composed of three main procedures: data pre-processing, laser scan data segmentation, searching target object, and localization. Basic level data organization are used in data pre-processing. Breakpoint detection and edge detection are used for laser scan data segmentation. Breakpoint detection is used to determine sequence of measurements. Edge detection decides edge in segmented measurements. Extended IEPF(Iterative Endpoint Fit) algorithm is that used in the part. Each breakpoint and edge is used for searching three target objects.