Scan Matching Cross-Correlation-Based Localization Algorithm: Embedded Systems Implementation Perspective
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F18%3A10241774" target="_blank" >RIV/61989100:27240/18:10241774 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S2405896318308796" target="_blank" >https://www.sciencedirect.com/science/article/pii/S2405896318308796</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2018.07.135" target="_blank" >10.1016/j.ifacol.2018.07.135</a>
Alternative languages
Result language
angličtina
Original language name
Scan Matching Cross-Correlation-Based Localization Algorithm: Embedded Systems Implementation Perspective
Original language description
Localization in an indoor environment is a challenging aspect of an autonomous mobile robot control as such mobile systems typically have limited computational capacity. It is therefore essential to design an algorithm capable of reliable robot's position calculation and, at the same time, suitable for implementation in embedded devices. This contribution describes a modified point-to-point Scan Matching algorithm based on cross-correlation, which was first introduced in our previous study. The newly developed algorithm running in a single thread is implemented in C language and decreases the computational complexity, i.e. time needed for calculation of the robot's position, by as much as 20% compared to the original solution implemented in C#. LiDAR sensor was used to test the algorithm. (C) 2018
Czech name
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Czech description
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Classification
Type
J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IFAC-PapersOnLine. Volume 51
ISSN
2405-8963
e-ISSN
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Volume of the periodical
51
Issue of the periodical within the volume
6
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
6
Pages from-to
90-95
UT code for WoS article
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EID of the result in the Scopus database
2-s2.0-85052869184