Orientation estimate of indoor mobile robot using laser scans

LIU Huaping; ZHENG Xiangmei; SUN Fuchun

doi:10.16511/j.cnki.qhdxxb.2018.25.031

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Journal of Tsinghua University(Science and Technology) ›› 2018, Vol. 58 ›› Issue (7) : 609-613. DOI: 10.16511/j.cnki.qhdxxb.2018.25.031

COMPUTER SCIENCE AND TECHNOLOGY

Orientation estimate of indoor mobile robot using laser scans

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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.

Key words

support vector regression / orientation estimation / mobile robot

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LIU Huaping, ZHENG Xiangmei, SUN Fuchun. Orientation estimate of indoor mobile robot using laser scans[J]. Journal of Tsinghua University(Science and Technology). 2018, 58(7): 609-613 https://doi.org/10.16511/j.cnki.qhdxxb.2018.25.031

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