An improved polar scan matching using genetic algorithm

This study presents a novel method for 2D laser scan matching called Genetic Polar Scan Matching (GPSM). The method combined the Genetic algorithm that used to solve automatic Pre-alignment two 2D scan data represented by sets of points with a Polar Scan Matching (PSM). The GPSM not only avoid searching for point associations by simply matching points with the same bearing, but also produce accurate results without limiting a small orientation between a reference scan and current scan. The experiments illustrate how the performances of this method are better than PSM and Iterate Closest Point (ICP) in terms of robustness and accuracy.