Self-Localization of Mobile Robot Using Map Matching Algorithm
Self-Localization of Mobile Robot Using Map Matching Algorithm
Bushra Shaikh, Sadia Muniza Faraz*, Syed Riaz un Nabi Jafri, Syed Usman Ali
ABSTRACT
The use of mobile robots is increasing day by day. However, an effective robotic navigation system demands efficient localization and path planning techniques. A map matching algorithm based on matrix matching is being proposed in this paper. The localization of robot is determined by the path acquired during the random maneuvering on the grid based maze, whereas, the shortest path to the target position is determined by estimating x and y coordinates. The algorithm interprets the map of the environment, expressed by grid based model and generates an optimal or near optimal path. The proposed algorithm is demonstrated by simulation studies using MATLAB and VREP. The algorithm is verified by a sensors based robotic setup with three different maps. The experimental results verified self-localization technique with an accuracy of 98 % for a mobile robot prototype in an indoor environment. The proposed algorithm is simple, low cost, independent of lighting conditions and requires less computational steps to identify the exact location on the map.
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June 2021
Vol. 40, Iss. 1, pp. 01-90
