COMPUTER SCIENCE AND TECHNOLOGY |
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Orientation estimate of indoor mobile robot using laser scans |
LIU Huaping1,3, ZHENG Xiangmei2,3, SUN Fuchun1,3 |
1. Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China; 2. Norendar International LTD, Shijiazhuang 050011, China; 3. State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China |
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Abstract The positioning of mobile robots indoors is very important with the controller needed to know both the location and the orientation. This paper presents a robot orientation regression model based on a support vector machine (SVM) to estimate the robot orientation. A laser radar signal is used as the model input with the orientation as the output. Tests show that the mean square error using an extreme learning machine model is 0.320 rad with a training time of 0.936 s while the mean square error based on the current support vector regression model is 0.113 rad with a training time of 9 273 s. Thus, the regression models can provide accurate robot position estimates.
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Keywords
support vector regression
orientation estimation
mobile robot
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Issue Date: 15 July 2018
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