抄録
Position estimation is very important theme for autonomous mobile robots. In this paper we propose new global positioning sensor system. Its feature is that the system is structured by only one ultra small-sized Laser Range Finder (laser based SOKUIKI sensor) and the sensor detects only plural reflectors which are installed in environment. The sensor compares the map data, which is memorized in the sensor with detected data, then it estimates its own global position for output data. For this purpose we considered algorithm and confirmed its validity by computer simulation and experiment in real indoor environment.
