(Time-Of-Arrival), AOA (Angle-Of-Arrival), and TDOA

The localization of robots is a main problem to solve to make the robots navigate autonomously. This paper introduces an embedded indoor localization system for mobile robot. The system consists of a localization sensor that computes location of itself and infrared landmarks that are wirelessly controlled by the localization sensor. The localization sensor which is combined with an image sensor detects pixel positions of infrared sources from the landmark and by the pixel position the sensor figures out its position(x,y) and heading angle. The coverage of a localization space is enlarged by dynamically combining robot odometer and IR landmark. The advantages of the developed system can be found on its position accuracy, robustness and easy expansion of localization space.