Performance Evaluation of Various 2-D Laser Scanners for Mobile Robot Map Building and Localization
Keywords:Laser Scanner, Specification, Map Building, Localization, Performance Evaluation
AbstractA study has been carried out to investigate the performance of various 2-D laser scanners, which influence the map building quality and localization performance for a mobile robot. Laser scanners are increasingly used in automation and robotic applications. They are widely used as sensing devices for map building and localization in navigation of mobile robot. 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 scanner 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. With 30meter of sensing range, a laser scanner can also result in better localization performance, especially in big environment.
S. Zug, F. Penzlin, A. Dietrich, T. T. Nguyen, and S. Albert, “Are laser scanners replaceable by Kinect sensors in robotic applications?” IEEE International Symposium on Robotic and Sensors Environments (ROSE), 2012, pp. 144-149.
D. C. Carmer, and L. M. Peterson, “Laser radar in robotics.” Proceedings of the IEEE, 1996, vol. 84, no. 2, pp. 299-320.
I. J. Cox, “Blanche-an experiment in guidance and navigation of an autonomous robot vehicle.” IEEE Transactions on robotics and automation, vol. 7, no. 2, pp. 193-204, , 1991.
P. Jensfelt, and H. Christensen, “Laser based position acquisition and tracking in an indoor environment.” in International Symposium on Robotics and Automation-ISRA, 1998, vol. 98.
J. S. Gutmann, W. Burgard, D. Fox, and K. Konolige, “An experimental comparison of localization methods.” IEEE/RSJ International Conference on Intelligent Robots and Systems, 1998, vol. 2, pp. 736-74.
F. Lu, and E. Milios. “Robot pose estimation in unknown environments by matching 2D range scans.” Journal of Intelligent and Robotic Systems vol. 18, no. 3, pp. 249-275, 1997.
N. E. Pears, “Feature extraction and tracking for scanning range sensors.” Robotics and Autonomous Systems vol. 33, no. 1, pp. 43-58, 2000.
S. Zaman, W. Slany, and G. Steinbauer. “ROS-based mapping, localization and autonomous navigation using a Pioneer 3-DX robot and their relevant issues.” IEEE Saudi International in Electronics, Communications and Photonics Conference (SIECPC), 2011, pp. 1-4.
Hokuyo Automatic Co. Ltd. Available from: http://www.hokuyo-aut.jp/. Retrieved 22 Jul 2016.
SICK Inc. Available from: https://www.sick.com/us/en. Retrieved 22 Jul 2016.
Pepperl+Fuchs GmbH. Available from: www.pepperl-fuchs.com/. Retrieved 22 Jul 2016.
Y. Okubo, C. Ye, and J. Borenstein. “Characterization of the Hokuyo URG-04LX laser rangefinder for mobile robot obstacle negotiation.” International Society for Optics and Photonics in SPIE Defense, Security, and Sensing, 2009, pp. 733212-733212.
D. Fox, “KLD-sampling: Adaptive particle filters.” in Advances in Neural Information Processing Systems, pp. 713-720, 2001.
How to Cite
TRANSFER OF COPYRIGHT AGREEMENT
The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):
- All proprietary right other than copyright, such as patent rights
- The right to make further copies of all or part of the published article for my use in classroom teaching
- The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
- The right to make copies of the published work for internal distribution within the institution that employs me
I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.