Consecutive Scanning Scheme: Application to Localization and Dynamic Obstacle Detection for a Mobile Robot

This paper presents the mobile robot localization and obstacle detection algorithm using the consecutive range sensor scanning scheme. For known environment, a mobile robot scans the environment using which can rotate 360°. The environment is rebuild using characteristic points which means nodes of two adjacent walls, and obstacle is detected by comparing characteristic points of both original environment and scanned data set. If scanning is done densely for a certain position, inaccuracy of sensor can be overcome to some extent. It is very useful algorithm in detecting the moving obstacle. By comparing two data sets, the movement of an obstacle can be picked out. Furthermore, consecutive scanning data set provides additional localization information so that we can get the robot configuration more precisely.