Localisation and Mapping Using a Laser Range Finder: A Goal-Seeking Approach

摘要

In this paper we examine the problem of localisation and mapping of an unknown environment using data from a laser range finder. In order to support our method we detect landmarks in the environment using the same laser finder. For the localisation and mapping process to take place we assume that the mobile robot will follow a path until a landmark is observed by the laser scanner. Our approach alleviates the requirement to provide odometry or other information. In addition, an efficient path is sought to reach target location. An inherent property of this is obstacle avoidance. The simulated experiments presented in the paper validate the effectiveness of our approach.