Curve-Localizability-SVM Active Localization Research for Mobile Robots in Outdoor Environments

摘要

Working environment of mobile robots has gradually expanded from indoor structured scenes to outdoor scenes such as wild areas in recent years. The expansion of application scene, change of sensors and the diversity of working tasks bring greater challenges and higher demands to active localization for mobile robots. The efficiency and stability of traditional localization strategies in wild environments are significantly reduced. On the basis of considering features of the environment and the robot motion curved surface, this paper proposes a curve-localizability-SVM active localization algorithm. Firstly, we present a curve-localizability-index based on 3D observation model, and then based on this index, a curve-localizability-SVM path planning strategy and an improved active localization method are proposed. Obtained by setting the constraint space and objective function of the planning algorithm, where curve-localizability is the main constraint, the path helps improve the convergence speed and stability in complex environments of the active localization algorithm. Helped by SVM, the path is smoother and safer for large robots. The algorithm was tested by comparative experiments and analysis in real environment and robot platform, which verified the improvement of efficiency and stability of the new strategy.