Localization of mobile robot using laser range finder and IR landmark

Abstract

Localization and mapping is important in autonomous navigation of mobile robot. In this paper, we deal with localization using 2D laser range finder and IR positioning sensor. 2D grid map is built in local coordinate using data from laser range finder. And it is integrated into global coordinate using information from IR landmark. It can provide consistent global map that can be used in the autonomous navigation of mobile robot. Experimental result under indoor environment is provided to show the feasibility.