Mobile robot localization and navigation using LIDAR and indoor GPS

Abstract

In the paper it is previewed the complex system for localization and navigation indoors. The basic sensors, used in that system are LIDAR and GPS. It is presented the method for combining data from those sensors, in order to improve the localization in mobile robots. Here are described the specific characteristics in the use and application of the method. For implementations of the suggested method, it is used the Robot Operating System upon differential mobile robot. The received results show, that thanks to the presented method, the mobile robot successfully passes through narrow spaces and reaches the set position with very high accuracy.