Position estimation of a mobile robot by PSO algorithm using a laser range finder

Abstract

This paper shows that a laser range finder and four artificial reflectors can be used to determine the position of a mobile robot in a three-dimensional (3D) working space provided that the four reflectors are not installed in the same plane. Moreover, a particle swarm optimization (PSO) algorithm is used to filter possible measuring errors. To show the feasibility and accuracy of the proposed method, experimental results are included for illustration.