Self-localization of a mobile robot on irregular ground using a laser range finder

Our present study aims to establish a method for estimating the position of a mobile robot traversing irregular ground. More specifically, we apply simultaneous localization and mapping (SLAM) using a laser range finder (LRF). We derive an expression to estimate the position of the mobile robot relative to a fixed landmark using the LRF. We use a pole for the landmark in our experiment. We confirm the effectiveness and accuracy of our proposed technique by both simulations and experiments. Currently, we succeed to estimate the robot position when the robot has inclination.