Abstract
There are some methods for self-localization for a mobile robot.For example,odometory calculates the robot's movement by rotation of wheels,and ICP algorithum calculates the robot's movement by the scan data of LRF obtained at two points.In this research,we realize three-dimensional self-localization by using odometry and ICP scan matching algorithum together.In addition,we conduct a stairs climbing experiments using a mobile robot developed in our laboratory,and we examine the usefulness of the self-localization method.
