抄録
This paper presents a study on the localization correction for the mobile robot using LRF (laser range finder). Generally, existing localization technologies for the mobile robots used encoder, gyro, geomagnetic sensor, and so on. However, those local sensors for localization have errors accumulated by system characters of sensor, or external environment. To solve the cumulative error, the sensor fusion using several local sensors and probabilistic methods has been studied. However, these methods may cause high computational cost, and is unsuitable for the mobile robot which needs real-time control. Therefore, this paper proposes localization error correction method with low computational complexity on mobile robot using LRF. For experiment, we designed and made the mobile robot which has two encoders, a gyro and a LRF. We measured localization errors while robot moves on fixed path, and compared results of the proposed method with results of the sensor fusion using only gyro and encoder. In the experimental result, we verified that the proposed method is able to reduce localization error effectively.
