Where am I? Localization techniques for Mobile Robots A Review

摘要

Autonomous navigation is one of the most challenging competencies required of a mobile robot. In order to accomplish successful navigation, a mobile robot must be competent in the four main elements of autonomous navigation: perception- the robot must be capable of interpreting its sensors to configure useful data about its environment; localization- the robot must be capable of determining its state within that environment; cognition- the robot must be make meaningful decisions on its actions in order to achieve its goals; and motion control- the robot must be capable of modulating its motor outputs to accurately achieve its desired trajectory. Of these four elements, localization has received the most attention by researchers in recent years, and as a result, we are seeing tremendous advances being made. This paper will provide an overview of the most commonly used localization techniques for mobile robots. We highlight the advantages and challenges associated with each technique and also investigate the various sensor fusion approaches that are being applied to enhance the overall accuracy and reliability of the localization system.