Initial Localization of Mobile Robot Based on Expansion Resetting Without Manual Pose Adjustment in Robot Challenge Experiment

Abstract

This study proposes a method for estimating the initial position of a mobile robot during a mobile robot experiment using expansion resetting. Depending on the type of sensor attached to the robot and the robot position and orientation estimation method, many operations may be required to estimate the initial position of the robot during an experimental run. The proposed method reduces the time and manual operations required to estimate the initial position and orientation of a mobile robot. The implementation of the method and its experimental results demonstrated the feasibility and effectiveness of the procedure.