Accuracy testing of a mobile robot position identifying in 3D space

The paper presents three object localisation methods in 3D space using a laser scanner sensor as a measured reference signal. The authors used the Velodyne LIDAR sensor and Matlab software to realise the described algorithms for position calculation. The article presents the accuracy of localisation depending on the applied spatial position identification method. The accuracy was separately determined for translation, rotation, and simultaneous translation with rotation. The translation accuracy was dependent on the shift axis. The limitations of the considered methods were also presented, along with a proposal to improve accuracy. The presented algorithms can be successfully applied to find the position of autonomous mobile robots in confined spaces such as public buildings, offices, and technological halls.