Calibrated localization with 2-D laser range finder for indoor mobile robots

We propose a new calibrated localization method with 2-D laser range finder for indoor mobile robots. Localization is an essential area to recognize where it is for mobile robots´ navigation. All localization methods need several precise sensors to obtain information from environment. However, data from sensors have errors inevitably. In this paper, a new pre-processing method of calibration is suggested to decrease errors by calibrating the measured range data. A set of smooth functions with equal intervals is utilized, and the coefficients of functions are determined from the least square fitting. Utilizing this calibration method, a local localization can give more accurate result, which is shown by experiments.