基盤地図とオンラインSLAMによる移動ロボットの自己位置推定法

抄録

In this paper, we propose a localization method using MCL and NDT scan matching in a hybrid manner. In this method, a cadastral map is used for MCL. However, the localization accuracy depends on the map. For this problem, we further apply online SLAM. Through NDT scan matching, the robot simultaneously build another map. In this regard, however, such front-end SLAM accumulates localization and mapping errors. For this problem, the localization error based on the NDT scan matching is partially corrected using the MCL. Through the navigation experiments, we show that the robot based on the proposed localization method is able to autonomously move toward the destination.