Precise location estimation method using a localization sensor for goal point tracking of an indoor mobile robot

Abstract

Simultaneous localization is the most important research topic in mobile robotics. In this study, we propose a precise location estimation algorithm for a mobile robot based on a localization sensor and artificial landmarks in the ceiling in order to achieve point tracking. The proposed technique estimates the location of landmarks in the ceiling, generates the global ceiling and the global ceiling map for landmarks, and estimates the location of a mobile robot based on the ceiling map. The localization algorithm effectively removes incorrectly recognized landmarks using a histogram. In addition, the algorithm removes the measurement noise based on a Kalman filter. In order to evaluate the performance of the proposed precise localization technique, we performed several experiments using a mobile robot. The experimental results demonstrated the feasibility of the proposed localization algorithm. © 2013 Springer Science+Business Media Dordrecht.