Localization for Mobile Robot Using Sensor Fusion and Landmark
نویسندگان
چکیده
In this paper, we present the method of localization system that uses iGPS (indoor GPS) sensor and Omni-directional vision sensor in the environment involving land mark. The indoor GPS (iGPS) is a simple and cheap localization sensor in the indoor environment. However, the error range of iGPS is too wide to be used in a small size robot. This paper presents a more accurate method of localization system that uses the iGPS sensor and Omni-directional vision sensor. We use the relative angle of robot estimation method and the linear position estimation. Then, we fuse the data from two sensors to get the accurate position.
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