Mobile robot localization using landmarks

TLDR

The paper presents an efficient method for localizing a mobile robot using landmarks and demonstrates its effectiveness through simulation results. The algorithm assumes the robot can identify landmarks and measure bearings, uses complex‑number representations of landmarks, estimates position and orientation from noisy inputs, and runs in linear time with respect to the number of landmarks. Simulation results show the method is effective for robot navigation.

Abstract

We describe an efficient method for localizing a mobile robot in an environment with landmarks. We assume that the robot can identify these landmarks and measure their bearings relative to each other. Given such noisy input, the algorithm estimates the robot's position and orientation with respect to the map of the environment. The algorithm makes efficient use of our representation of the landmarks by complex numbers. The algorithm runs in time linear in the number of landmarks. We present results of simulations and propose how to use our method for robot navigation.