Self-Localization and Movement Control of Mobile Robots using Shared Markers.

Abstract

Various studies have been conducted on self-localization to enable mobile robots to move freely within facilities. However, adapting to dynamic changes within the facility poses a challenge. In recent years, there has been a growing interest in initiatives like ”robot-friendly” environments, which aim to facilitate robot activities. This study achieves robust self-localization by installing markers in the environment to aid the robot in acquiring its position accurately. Since obtaining accurate self-localization with a single marker is challenging, this study develops an algorithm that utilizes two markers to estimate position accurately. Using this algorithm, it was confirmed that the mobile robot can enter the elevator from the corridor without colliding with the walls.