Position Estimation Method for Wheeled Mobile Robot by Integrating Laser Navigation and Dead Reckoning Systems.

摘要

This paper describes a position estimation method of a wheeled mobile robot by integrating the informations in an odometric dead reckoning and a laser navigation system. The dead reckoning regularly gives the robot's position by the revolution counts of both side wheels. The laser navigation system succesively observes the bearing angles relative to the corner cube reflectors fixed in the robot's environment.