The localization of mobile robot based on laser scanner

摘要

This paper presents a localization procedure for mobile robot operating in an indoor cluttered environment. The proposed approach is based on the recognition of natural landmarks identified through laser scanner data. By detecting the break points in data set, the localization is experimented to correct position and orientation errors of robot and a simple estimator is used to do the updating. Experimental results have shown that the localization by breakpoints works well.