Improved KNN Scan Matching for Local Map Classification in Mobile Robot Localisation Application

1st International Conference on Mechanical Electronic and Biosystem Engineering

Markom, M.A.^1 ; Adom, A.H.^1 ; Abdul Shukor, S.A.^1 ; Abdul Rahim, N.^1 ; Mohd Muslim Tan, E.S.^2 ; Ilias, B.^1

School of Mechatronic Engineering, Universiti Malaysia Perlis, Kampus Ulu Pauh, Perlis Arau

02600, Malaysia^1

Centre of Diploma Studies, Universiti Malaysia Perlis, Kampus Unicity, Padang Besar

02100, Malaysia^2

关键词: Autonomous Mobile Robot;    Classification performance;    Iteration process;    Laser range data;    Localisation and mapping;    Nearest point;    Reference points;    Robot localisation;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/557/1/012019/pdf
DOI  :  10.1088/1757-899X/557/1/012019

来源: IOP

【 摘 要 】

Localisation is essential for autonomous mobile robot system enabling it to locate itself within its environment. One method to perform localisation is to use scan matching with iteration closest point (ICP) algorithm. However, typical ICP may be prone to inaccuracies in localisation and mapping due to problems associated with laser range data limitation such as overshoot data and blank data. This paper presents the improvement to the above problem by the inclusion of a threshold to the KNN scan matching algorithm during iteration process. The threshold is a percentage of nearest point of incoming input with respected to reference point. Threshold values of 0%, 70% and 90% were tested, and improvements of the classification performance were observed with the increase in the threshold values, with the latter achieving 100% accuracy. This work shows that the use of threshold in scan matching may improve the accuracy of local map classification.