Development of laser range finder-implemented JAUS-compliant local pose component

摘要

Accurate and stable localization is one of most important autonomous mobile robot functions. To achieve accurate and stable localization, we employed an additional laser range finder to accurately estimate local position using a simultaneous location and mapping (SLAM) technique. In this paper, we describe the implementation of a Joint Architecture for Unmanned Systems (JAUS)-compliant local pose component in order to validate the proposed localization algorithm. In both simulation and actual experiments, the local pose component was validated.