Localization of Fast Mobile Robots Based on an Advanced Angle–Measurement Technique

This paper is concerned with the absolute localization of mobile robots, which are equipped with an onboard device performing angular measurements on the location of known but mutually indistinguishable landmarks. Novel algorithms are proposed, 1. for efficient posture initialization based on a simple linear solution scheme, and 2. for purposes of recursive posture estimation. Derived within a settheoretic framework, the algorithms cope with nonwhite, non-Gaussian noise and deterministic errors. A typical application, localizing a floor-inspection robot on a long-range inspection mission, is used to demonstrate the implementation and performance of the proposed posture estimator.