Location technology of indoor robot based on laser sensor

摘要

In order to solve existed accumulative error and SLAM problem for dead reckoning, this paper was proposed a positioning method combining with the known structured environment based on Extended Kalman Filter algorithm (EKF). This method quickly extracts the information of border and corner. According to the feature mapping relationships between world coordinate system and local coordinate system, calculate the robot's position and orientation space in the scene by matching the modeled environmental information. This method that we proposed achieved a better accuracy, timeliness and correctness.