Abstract
The authors used a preplanned path on a specified sketch floor map for a wheel-type mobile robots navigation. This paper discusses the method which locally matches SLAM data to the floor map. Based on this method, a mobile robot can get his localization and correct his navigation position on the floor map. Then on the iterative renewing of his position on the map, a reliable navigation is possible by using the preplanned path. This method effectiveness is also confirmed by experiments.
