LOCALIZING METHOD FOR MOBILE ROBOT

摘要

PURPOSE: A location estimating method of a mobile robot is provided to improve the accuracy and speed of the location estimating of a mobile robot by extracting a location sample within a maximum motion boundary not the entire section of an environmental map. CONSTITUTION: A location estimating method of a mobile robot comprises the following steps. The scan data is acquired according to the scan of a range sensor(S10). The matching error is generated based on the deviation between the scan range section based on the estimated data and estimating range section based on the estimated data(S11). The failure of location estimating is determined according to the exceeding of the calculated matching error to the error threshold. If the failure of location estimating is determined, the matching error is generated about each location sample extracted from at least one section of an environment map(S16). The matching error is applied to the probability density function and the location of the mobile robot is estimated.