Abstract

Laser scanners are widely used in mobile robotics localization systems but, despite the enormous potential of its use, their high price tag is a major drawback, mainly for hobbyist and educational robotics practitioners that usually have a reduced budget. The Neato XV-11 Laser Scanner is a very low cost alternative, when compared with the current available laser scanners, being this fact the main motivation for its use. The modeling of a hacked Neato XV-11 Laser Scanner allows to provide valuable information that can promote the development of better designs of robot localization systems based on this sensor. This paper presents, as an example, the performance enhancement of a Neato XV-11 Laser Scanner applied to mobile robot self-localization, being used as case study the Perfect Match Algorithm applied to the Robot@Factory competition.

Highlights

  • In mobile robotics applications the most common tasks comprise mapping, localization, navigation and obstacle avoidance

  • The laser scanner can be removed from the XV-11, allowing robotics practitioners to use it in their projects, being a very low cost alternative

  • Neato XV-11 is a robot that includes a low cost 360° laser scanner, this sensor can be extracted from the robot, allowing robotics practitioners to use it in their projects

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Summary

Introduction

In mobile robotics applications the most common tasks comprise mapping, localization, navigation and obstacle avoidance. The laser scanner can be removed from the XV-11, allowing robotics practitioners to use it in their projects, being a very low cost alternative. Laser Scanner applied to mobile robot self-localization, being used as case study the Perfect Match Algorithm applied to the Robot@Factory competition [10]. The Robot@factory competition attempts to recreate a problem similar to the one that an autonomous robot will face during its use in a plant This scaled plant has a supply warehouse, a final product warehouse and eight processing machines.

Hacked Neato XV-11 Laser Scanner Description
Experimental Setup To model the hacked Neato XV-11 Laser
Laser Scanner Model
Perfect Match
Perfect Match Algorithm Performance Enhancement
Conclusions
Full Text
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