Reliable and efficient landmark-based localization for mobile robots

Authors:
I. Loevsky;I. Shimshoni
Affiliations:
Faculty of Industrial Engineering and Management, Technion, Haifa 32000, Israel;Department of Management Information Systems, University of Haifa, Haifa 31905, Israel
Venue:
Robotics and Autonomous Systems
Year:
2010

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Abstract

This paper describes an efficient and robust localization system for indoor mobile robots and AGVs. The system utilizes a sensor that measures bearings to artificial landmarks, and an efficient triangulation method. We present a calibration method for the system components and overcome typical problems for sensors of the mentioned type, which are localization in motion and incorrect identification of landmarks. The resulting localization system was tested on a mobile robot. It consumes less than 4% of a Pentium4 3.2 GHz processing power while providing an accurate and reliable localization result every 0.5 s. The system was successfully incorporated within a real mobile robot system which performs many other computational tasks in parallel.