A similarity rate-based switching decision mechanism for the docking problem of autonomous mobile robots (AMRs)
In this repository, a ROS-compatible multi-stage localization framework including delivery and docking stages is proposed. An AMR can be localized using the SA-MCL algorithm in the delivery stage and the scan-matching-based localization algorithm in the docking stage. The switching point can be automatically determined using a correntropy-based decision mechanism.
The overall framework can be described as follows:
The following ROS-compatible SIMULINK blocks and ROS packages are given in this repository:
1) Correntropy based similarity rate estimator
2) Active localizer decision mechanism
3) Precise localization for docking stage
PS: These blocks can be directly used as ROS nodes or employed to generate standalone ROS nodes from SIMULINK.
4) Coarse localization for delivery stage
Please refer to the following manuscript for further details and cite it for academic works
@article{yilmaz2024robotica,
title={A Multi-stage Localization Framework for Accurate and Precise Docking of Autonomous Mobile Robots (AMRs)},
author={Yilmaz, Abdurrahman and Temeltas, Hakan},
journal={Robotica},
year={2024},
publisher={Cambridge University Press},
doi={10.1017/S0263574724000602}
}