Indoor localization and map building for autonomous mobile robot

Abstract

The purpose of this paper is to develop both of high accuracy positioning and map building for an autonomous mobile robot working in indoor environment. A time difference of arrival (TDOA) hyperbola locating method based on ultra-wideband technology and Taylor series expansion algorithm has been proposed to reduce the indoor positioning error. A straight line matching method is raised to process the real-time laser scanned data. The parameters of matching conditions and state matrix under different motion state are deduced to improve the accuracy of line feature matching. The ultra-wideband technology with TDOA locating method and Taylor expansion algorithm proved to be accurate in determining the location and position. The map building combined with the proposed feature line matching has the potential to meet the demand for robot navigation, exploration and cognition.