Localization in the environment is an essential navigational capability for animals and indoor robotic vehicles. In indoor environments, it is still challenging to perfectly solve the global localization problem using probabilistic methods. However, animals are able to instinctively localize themselves with much less effort. Therefore, an intriguing and promising approach is to seek biological inspiration from animals. In this paper, we present a biologically-inspired global localization system using a LiDAR sensor that utilizes a hippocampal model and a landmark-based relocalization approach. The experiment results show that the proposed method is competitive with Monte Carlo Localization, and the results demonstrate the high accuracy, applicability, and reliability of the proposed biologically-inspired localization system in various localization scenarios.
A Biologically-Inspired Global Localization System for Mobile Robots Using LiDAR Sensor
05.06.2022
698712 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Biologically-inspired intelligent robots
NTRS | 2002
|Biologically inspired intelligent robots
NTRS | 2003
|Biologically inspired intelligent robots
NTRS | 2004
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