Research on Localization Method for Indoor Autonomous Mobile Robot

摘要

Localization is the process of finding the position and orientation of the robot. Reliable localization based on sensors is one of the most fundamental and important tasks for autonomous mobile robots. This paper reviews the relevant indoor autonomous mobile robot localization technologies, introduces the present situation on the research of localization method for autonomous mobile robot. At the same time, some typical internal and foreign research methods were introduced in detail, and presents some general localization methods for indoor autonomous mobile robot especially introduces the map building and pose estimation methods. Finally, with an emphasis on the main problems of localization system and map building for autonomous mobile robot and solutions to them, future trend in this field is pointed out.