A Novel 2D Laser Scan Matching Algorithm for Mobile Robots Based on Hybrid Features

摘要

This paper proposes a novel two-dimensional (2D) laser scan matching algorithm to estimate the motion of mobile robots, which is based on hybrid features consisting of point clouds and line segments. The algorithm is composed of three main procedures: associated line segments matching, heading angle calculation and coarse-to-fine translation search. Different from existing approaches, the proposed algorithm considers the rotational and translational components separately and adopts a two-stage strategy to complete the task. Comparative experimental results with respect to two classic scan matchers are presented to show superior performance of the proposed algorithm in terms of accuracy and efficiency in real environments.