DEVICE AND A METHOD FOR ESTIMATING THE LOCATION OF A MOBILE ROBOT BY USING A LASER SCANNER AND THE STRUCTURE EASILY EXTRACTING A FEATURE POINT EVEN IF THERE ARE OBSTACLES

摘要

PURPOSE: A device and a method for estimating the location of a mobile robot by using a laser scanner and the structure are provided to be rapidly moved to the desired position by rapidly extracting the own position with the low load.;CONSTITUTION: A device for estimating the location of a mobile robot using a laser scanner and the structure comprises a scan unit, a pattern leading unit, a line fitting unit, a structure extracting unit, a structure matching unit, and a position calculating unit. The line fitting unit fits the data scanned in the scan unit in a straight line when the mobile robot drives and scans the upper surface or the front surface and the upper surface. The structure extracting unit extracts the same when the distance from the fitting line or the angle exceeds a first threshold. The structure matching unit matches the extracted structure and a pattern map and extracts the structure where the matching rate is less than a second threshold value. The position calculating unit calculates the position of the mobile robot by using the coordinate and transformation matrix of the structure extracted from the structure matching unit.;COPYRIGHT KIPO 2013;[Reference numerals] (AA) Start; (BB) End; (S10) Store a structure to have a pattern; (S20) Operate a mobile robot; (S30) Scan the upper surface; (S41) Data segmentation; (S43) Line fitting for each segment; (S45) Line error a first threshold value; (S50) Extract the structure and the pattern; (S61) Match a pattern map with the extracted pattern; (S63) Matching error a second threshold value; (S70) Calculate the location of the robot by using a transformation matrix