A study on scan matching method using procrustes analysis

A mobile robot must know its position within an unknown environment in order to perform tasks reliably. In this paper, enhancing the scan-matching algorithm for accurate map building and localization using a laser range finder in an unknown environment is proposed. When using the encoder, consideration of the error by slip and backlash of wheels is required for accurate localization. In this paper, more accurate translation and rotation between the reference position where the previous pose was obtained and the current position of the mobile robot is obtained by combining with the scanned data of the laser range finder while the robot navigates and using Procrustes analysis. This scan matching method is consecutively applied to the scan data of the environment and the odometer information of the robot. The pose of the robot and the map information of the environment are revised accordingly. Experimental result shows that the proposed scan matching algorithm for a mobile robot facilitates reduction of the error of map building from environmental information with the revised pose information of the robot.