METHOD FOR LOCALIZATION OF MOBILE ROBOT USING ARTIFICIAL LANDMARK

摘要

The present invention relates to a method for estimating location of a mobile robot by using an artificial mark, which comprises the steps of: (a) registering absolute relation scores for geometric relation among multiple registered artificial marks installed on the moving path of the mobile robot; (b) detecting at least three artificial marks by a distance sensor installed on the mobile robot; (c) calculating relative relation scores for the geometric relation among the detected artificial marks; (d) extracting at least one absolute relation score which is matched to the relative relation score within the pre-registered range of matching for each relative relation score; (e) extracting the registered artificial marks which commonly fall on at least one absolute relation score matched to the relative relation score which one detected artificial mark belongs to; (f) matching the detected artificial mark to the registered artificial mark based on the result of an extraction in a previous step (e); (g) estimating location of the mobile robot based on the result of the matching in a previous step (f). Accordingly, the location of a mobile robot on a global coordinate can be estimated by using an artificial marks which does not provide information on a constant patter or a location on global coordinate.