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Open AccessArticle

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

Robotics Laboratory, University of Lleida, Jaume II, 69, 25001 Lleida, Spain
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Sensors 2020, 20(9), 2500; https://doi.org/10.3390/s20092500
Received: 27 March 2020 / Revised: 24 April 2020 / Accepted: 27 April 2020 / Published: 28 April 2020
(This article belongs to the Special Issue Robotic Sensing for Smart Cities)
This paper proposes mobile robot self-localization based on an onboard 2D push-broom (or tilted-down) LIDAR using a reference 2D map previously obtained with a 2D horizontal LIDAR. The hypothesis of this paper is that a 2D reference map created with a 2D horizontal LIDAR mounted on a mobile robot or in another mobile device can be used by another mobile robot to locate its location using the same 2D LIDAR tilted-down. The motivation to tilt-down a 2D LIDAR is the direct detection of holes or small objects placed on the ground that remain undetected for a fixed horizontal 2D LIDAR. The experimental evaluation of this hypothesis has demonstrated that self-localization with a 2D push-broom LIDAR is possible by detecting and deleting the ground and ceiling points from the scan data, and projecting the remaining scan points in the horizontal plane of the 2D reference map before applying a 2D self-location algorithm. Therefore, an onboard 2D push-broom LIDAR offers self-location and accurate ground supervision without requiring an additional motorized device to change the tilt of the LIDAR in order to get these two combined characteristics in a mobile robot. View Full-Text
Keywords: 2D push-broom LIDAR; tilted-down 2D LIDAR; mobile robot self-location; 2D map 2D push-broom LIDAR; tilted-down 2D LIDAR; mobile robot self-location; 2D map
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MDPI and ACS Style

Palacín, J.; Martínez, D.; Rubies, E.; Clotet, E. Mobile Robot Self-Localization with 2D Push-Broom LIDAR in a 2D Map. Sensors 2020, 20, 2500.

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