An On-line Geometric Algorithm for Localization of Mobile Robots using a Segment-based Mapping

摘要

Knowing where the robot is located and having a map of surrounding environment is important especially for autonomous robots. Here in this paper we propose a segment-based geometric algorithm for online localization and mapping of robots. It is also applicable in multi-robot situations. The proposed method is implemented and tested on Pioneer 2AT robots in an indoor environment. Experimental results show that the presented method is effective and reduces the computation complexity of map building operation.