The enhancement of PCSM method by motion history analysis

Abstract

This paper deals with the identification of wheel robot position and orientation when dealing with the global localization problem. We used a method called PCSM (Pre-Computed Scan Matching) for solving this problem for autonomous robot in known environment. This method was developed for small robots. The identification of the position and orientation of the robot is based on the fusion of pre-computed match data and the analysis of the history of robot motion. The paper provides information about this fast yet simple method.