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Performance evaluation of various 2-d laser scanners for mobile robot map building and localization

A study has been carried out to investigate the performance of various 2 - D laser scanners , which influ ence the map building quality and localization performance for a mobile robot. Laser scanners are increasingly used in auto mation and robotic applications. T...

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Main Authors: Lim, Thol Yong, Yeong, Che Fai, Su, Eileen Lee Ming, Chik, Sheng Fei, Chin, Patrick Jun Hua, Tan, Ping Hua
Format: Article
Published: UTEM 2016
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
T Technology
Online Access:http://eprints.utm.my/id/eprint/68240/
http://journal.utem.edu.my/index.php/jtec/article/view/1418/929
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spelling my.utm.682402017-11-20T08:52:04Z http://eprints.utm.my/id/eprint/68240/ Performance evaluation of various 2-d laser scanners for mobile robot map building and localization Lim, Thol Yong Yeong, Che Fai Su, Eileen Lee Ming Chik, Sheng Fei Chin, Patrick Jun Hua Tan, Ping Hua TK Electrical engineering. Electronics Nuclear engineering T Technology A study has been carried out to investigate the performance of various 2 - D laser scanners , which influ ence the map building quality and localization performance for a mobile robot. Laser scanners are increasingly used in auto mation and robotic applications. T hey are widely used as sensing devices for map building and localization in navigation of mobile ro bot. Laser scanners are commercially available, but there is very little published information on the performance comparison of various laser scanners on the mobile robot map building and localization. Hence, this work studies the performance by comparing four laser scanners which are Hokuyo URG04LX - UG01, Hokuyo UTM30LX, SICK TIM551 and Pepperl Fuchs ODM30M. The results, which are verified by comparison with the reference experimental data, indicated that the angle resolution and sensing range of laser scan ner are key factors affecting the map building quality and position estimation for localization. From the experiment, laser scanner with 0.25° angle resolution is optimum enough for building a map of sufficient quality for good localization performance . W i th 30meter of sensing range, a laser scanner can also result in better localization performance , especially in big environment. UTEM 2016-01-12 Article PeerReviewed Lim, Thol Yong and Yeong, Che Fai and Su, Eileen Lee Ming and Chik, Sheng Fei and Chin, Patrick Jun Hua and Tan, Ping Hua (2016) Performance evaluation of various 2-d laser scanners for mobile robot map building and localization. Journal of Telecommunication, Electronic & Computer Engineering, 8 (11). pp. 105-109. ISSN 21801843 http://journal.utem.edu.my/index.php/jtec/article/view/1418/929
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
T Technology
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
T Technology
Lim, Thol Yong
Yeong, Che Fai
Su, Eileen Lee Ming
Chik, Sheng Fei
Chin, Patrick Jun Hua
Tan, Ping Hua
Performance evaluation of various 2-d laser scanners for mobile robot map building and localization
description A study has been carried out to investigate the performance of various 2 - D laser scanners , which influ ence the map building quality and localization performance for a mobile robot. Laser scanners are increasingly used in auto mation and robotic applications. T hey are widely used as sensing devices for map building and localization in navigation of mobile ro bot. Laser scanners are commercially available, but there is very little published information on the performance comparison of various laser scanners on the mobile robot map building and localization. Hence, this work studies the performance by comparing four laser scanners which are Hokuyo URG04LX - UG01, Hokuyo UTM30LX, SICK TIM551 and Pepperl Fuchs ODM30M. The results, which are verified by comparison with the reference experimental data, indicated that the angle resolution and sensing range of laser scan ner are key factors affecting the map building quality and position estimation for localization. From the experiment, laser scanner with 0.25° angle resolution is optimum enough for building a map of sufficient quality for good localization performance . W i th 30meter of sensing range, a laser scanner can also result in better localization performance , especially in big environment.
format Article
author Lim, Thol Yong
Yeong, Che Fai
Su, Eileen Lee Ming
Chik, Sheng Fei
Chin, Patrick Jun Hua
Tan, Ping Hua
author_facet Lim, Thol Yong
Yeong, Che Fai
Su, Eileen Lee Ming
Chik, Sheng Fei
Chin, Patrick Jun Hua
Tan, Ping Hua
author_sort Lim, Thol Yong
title Performance evaluation of various 2-d laser scanners for mobile robot map building and localization
title_short Performance evaluation of various 2-d laser scanners for mobile robot map building and localization
title_full Performance evaluation of various 2-d laser scanners for mobile robot map building and localization
title_fullStr Performance evaluation of various 2-d laser scanners for mobile robot map building and localization
title_full_unstemmed Performance evaluation of various 2-d laser scanners for mobile robot map building and localization
title_sort performance evaluation of various 2-d laser scanners for mobile robot map building and localization
publisher UTEM
publishDate 2016
url http://eprints.utm.my/id/eprint/68240/
http://journal.utem.edu.my/index.php/jtec/article/view/1418/929
_version_ 1643655928472403968
score 13.211869

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