RNN aided lidar-based positioning for AMR

Autonomous Mobile Robots (AMR) are being employed more in nowadays industry, in tasks where a precise positioning algorithm is fundamental for a positive result. AMRs often rely on laser scanner readings in order to perform a precise positioning or docking procedure. Laser scanners output a 1D vector of distances between the sensor center and the surrounding environment. In order to re-position the AMR into a saved position, the AMR has to be moved in a way to match the sensor reading of the saved position with the current one. In this work, an RNN approach is proposed to estimate the registration error between laser scanners and improve the docking precision.