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Browsing by Subject "iterative closest points"

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  • thumbnail.journal.alt
    Item type:Article, Access status: Open Access ,
    Comparison of algorithms for simultaneous localization and mapping problem for mobile robot
    (Wydawnictwa AGH, 2010) Jeżewski, Sławomir; Łaski, Maciej; Nowotniak, Robert
    This paper presents a comparison of selected algorithms for simultaneous localization and mapping (SLAM) problem in mobile robotics. Results of four general metaheuristics, Simple Genetic Algorithm, Particle Swarm Optimization, Quantum-Inspired Genetic Algorithms and Genetic Algorithm with Quantum Probability Representation, have been compared to results of classical, analytic method in this field, Iterative Closes Points algorithm. In the experiments the same objective function, drawn from Iterative Closest Points algorithm, has been used. Two situations have been considered: local and global localization problems of mobile robot. Both problems are import and often critical for successful navigation of robot in environment.
  • thumbnail.journal.alt
    Item type:Article, Access status: Open Access ,
    Lokalizacja robota mobilnego w czasie rzeczywistym na podstawie danych ze skanera laserowego
    (Wydawnictwa AGH, 2010) Sankowski, Dominik; Jeżewski, Sławomir; Łaski, Maciej
    This papers presents description of algorithms used in real time mobile robot localization procedure. Main problem is to optimize nearest neighbour algorithm used by localization method using characteristics of data received from laser rangefinder. The Iterative Closest Point (ICP) algorithm has been used, as it is a classical method in localization problem.