Mobile robot localization using indistinguishable artificial landmarks

Abstract

Owing to the presence of multiple obstacles or changes in the positions of surroundings objects, the localization of a mobile robot using only natural landmarks is difficult in indoor environments. Consequently, in these environments, the use of artificial landmarks to achieve robust localization is necessary. To this end, we propose a global localization method for mobile robots, using reflectors as indistinguishable artificial landmarks, not the manmade signs have a certain pattern. In previous studies, it has been shown that localization is possible using information about the distance between indistinguishable artificial landmarks. We applied this principle in a real-world situation with many obstacles or in a dynamic environment and confirmed that robust, high-accuracy global localization is possible.