2021/09/27 by Genghang Zhuang, Carlo Cagnetta, Zhuang, Genghang +7
Engineering · Computer Science · #Underwater Vehicles and Communication Systems #Robotics and Sensor-Based Localization #Robotic Path Planning Algorithms
paper · pdf · doi:10.48550/arxiv.2109.12928
Localization in the environment is an essential navigational capability for animals and mobile robots. In the indoor environment, the global localization problem remains challenging to be perfectly solved with probabilistic methods. However, animals are able to instinctively localize themselves with much less effort. Therefore, it is intriguing and promising to seek biological inspiration from animals. In this paper, we present a biologically-inspired global localization system using a LiDAR sensor that utilizes a hippocampal model and a landmark-based re-localization approach. The experiment results show that the proposed method is competitive to Monte Carlo Localization, and the results demonstrate the high accuracy, applicability, and reliability of the proposed biologically-inspired localization system in different localization scenarios.