A novel approach to the mobile robot localization problem using tracking methods

摘要: This paper presents a novel approach to mobile robot localization. is basically different from other methods developed so far, because the sensors are not mounted on robot. In fact, they statically located in environment. These sensors, which could be for instance SICK lasers embedded walls of museum, constantly measure distance points surface plane. The only further assumption we have make that has circular shape this supposition feasible, since most indoor service robots shape. We then use simple tracking algorithm based Kalman filter and geometrical considerations localize with very high precision. simulations it shown, our method able an error range one centimeter.