Journals Articles Conferences News About CLP
Submit a paper Email Alert
Search
Search
Articles
Journals
News
Advanced Search
Top Searches
2D MaterialsTransformation opticsQuantum PhotonicsSmall lasersSemiconductor UV PhotonicsSupersymmetric microring laser arrays

Laser & Optoelectronics Progress, Volume. 61, Issue 8, 0811001(2024)

Laser Location of Mobile Robot Based on ICP Algorithm

Longyun Zhao1,2, Hongjun San1,2、*, Jiupeng Chen1,2, and Zhen Peng1,2
Author Affiliations
  • 1Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, Yunnan , China
  • 2Key Laboratory of Intelligent Manufacturing Technology for Advanced Equipment in Yunnan Province, Kunming 650500, Yunnan , China
    • show less
    AbstractGet PDF(in Chinese)
    Figures&Tables (16)
    Equations (27)
    References (26)
    Tools
    Paper Information
    Topics
    Figures & Tables(16)
    Block diagram of location method

    Fig. 1. Block diagram of location method

    Download full size
    Schematic of multi-resolution search

    Fig. 2. Schematic of multi-resolution search

    Download full size
    ICP algorithm principle

    Fig. 3. ICP algorithm principle

    Download full size
    Submap construction

    Fig. 4. Submap construction

    Download full size
    Schematic of multi-point cloud density matching

    Fig. 5. Schematic of multi-point cloud density matching

    Download full size
    Diagram of pose cutting

    Fig. 6. Diagram of pose cutting

    Download full size
    Experimental facility

    Fig. 7. Experimental facility

    Download full size
    Relocation experiment. (a) Experimental environment; (b) distance image

    Fig. 8. Relocation experiment. (a) Experimental environment; (b) distance image

    Download full size
    Relocation error. (a) Point A; (b) point B; (c) point C; (d) point D

    Fig. 9. Relocation error. (a) Point A; (b) point B; (c) point C; (d) point D

    Download full size
    Location estimation experiment. (a) Robot path; (b) positioning trajectory of different algorithms

    Fig. 10. Location estimation experiment. (a) Robot path; (b) positioning trajectory of different algorithms

    Download full size
    Positioning accuracy error. (a) Proposed method; (b) Cartographer; (c) Gmapping

    Fig. 11. Positioning accuracy error. (a) Proposed method; (b) Cartographer; (c) Gmapping

    Download full size

    • Table 1. Comparison of location estimation efficiency

      View table

      Table 1. Comparison of location estimation efficiency

      DatasetTotal duration of the dataset /sTotal time of Cartographer /sTotal time of proposed method /sEfficiency ratio
      ACES13664122.31.8
      Intel269117937.64.7
      MIT Killian Court767819039.04.9

    • Table 2. Comparison of positioning estimation error

      View table

      Table 2. Comparison of positioning estimation error

      MethodIntelACESMIT Killian Court
      Translation errorTranslation varianceTranslation errorTranslation varianceTranslation errorTranslation variance
      Proposed method0.01810.00080.03650.00120.05830.0049
      Cartographer0.02990.00110.03750.00320.03950.0039
      Gmapping0.0310.0020.0440.0040.0500.006

    • Table 3. RPLIDAR A1 lidar parameter

      View table

      Table 3. RPLIDAR A1 lidar parameter

      ParameterValue
      Measuring radius /m0.15‒12
      Sampling frequency /1038
      Scanning frequency /Hz5.5
      Angular resolution /（°）≤1
      Scanned area /（°）360
      Accuracy of ranging

      actual distance 1% （≤3 m）

      actual distance 2% （3‒5 m）

      actual distance 2.5% （5‒12 m）

    • Table 4. Relocation error comparison

      View table

      Table 4. Relocation error comparison

      ParameterAMCLProposed method
      x /my /mθ /radx /my /mθ /rad
      Absolute value of max error0.0680.0450.0260.0230.0260.024
      Absolute value of min error0.0170.0060.0050.0010.0020.002
      Absolute value of mean error0.0450.0280.0130.0100.0120.012

    • Table 5. Comprehensive comparison of positioning errors among three algorithms

      View table

      Table 5. Comprehensive comparison of positioning errors among three algorithms

      Location methodMaximum error along x-axis /mAverage error along x-axis /mRMSE along x-axis /mMaximum error along y-axis /mAverage error along y-axis /mRMSE along y-axis /mRunning time /s
      Gmapping0.3850.07860.11470.2070.08190.097511.0
      Cartographer0.1560.07070.08270.2220.07130.089413.3
      Proposed method0.20.02210.03570.1330.03560.04853.7
    Tools

    Get Citation

    Copy Citation Text

    Longyun Zhao, Hongjun San, Jiupeng Chen, Zhen Peng. Laser Location of Mobile Robot Based on ICP Algorithm[J]. Laser & Optoelectronics Progress, 2024, 61(8): 0811001

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Set citation alerts for article
    Save article for my favorites
    Paper Information

    Category: Imaging Systems

    Received: May. 15, 2023

    Accepted: Jul. 24, 2023

    Published Online: Apr. 16, 2024

    The Author Email: San Hongjun (sanhongjun@163.com)

    DOI:10.3788/LOP231307

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology