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Mobile Robot Self-Localization with 2D Push-Broom LIDAR in a 2D Map.

Jordi Palacín1, David Martínez1, Elena Rubies1

  • 1Robotics Laboratory, University of Lleida, Jaume II, 69, 25001 Lleida, Spain.

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|May 2, 2020
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Summary

This study demonstrates mobile robot self-localization using a tilted-down 2D LIDAR and a pre-existing 2D map. This method enables ground hazard detection without extra hardware.

Keywords:
2D map2D push-broom LIDARmobile robot self-locationtilted-down 2D LIDAR

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Area of Science:

  • Robotics
  • Sensor Fusion
  • Simultaneous Localization and Mapping (SLAM)

Background:

  • Mobile robots rely on accurate self-localization for navigation and task execution.
  • Traditional 2D LIDAR systems may miss ground-level obstacles or hazards.
  • Utilizing a tilted-down LIDAR offers potential for enhanced environmental perception.

Purpose of the Study:

  • To investigate the feasibility of mobile robot self-localization using a 2D push-broom LIDAR with a tilted-down configuration.
  • To determine if a 2D reference map generated by a horizontal LIDAR can be effectively used by a tilted-down LIDAR for localization.
  • To explore the combined capabilities of self-localization and ground hazard detection with a single tilted-down 2D LIDAR sensor.

Main Methods:

  • Developing a self-localization approach for mobile robots utilizing an onboard 2D push-broom LIDAR.
  • Employing a previously generated 2D horizontal LIDAR map as a reference for localization.
  • Implementing data processing steps including ground and ceiling point removal, and projection onto a horizontal plane for map matching.

Main Results:

  • Experimental validation confirmed the possibility of self-localization using a 2D push-broom LIDAR with a tilted-down orientation.
  • The proposed method successfully detected and filtered ground and ceiling points from LIDAR scans.
  • Accurate localization was achieved by projecting processed scan data onto the reference 2D map.

Conclusions:

  • A 2D push-broom LIDAR, when tilted downwards, can be effectively used for mobile robot self-localization.
  • This approach integrates self-localization and ground supervision capabilities, eliminating the need for additional motorized tilt mechanisms.
  • The findings support the use of tilted-down 2D LIDARs for enhanced mobile robot perception and navigation in complex environments.