Localization of Segway RMP

Mobile robot Segway RMP autonomously stands by the principle of the inverted pendulum. It can be controlled with the desired speed and rotation, sacrificing its transitional posture as tilting itself substantially. This fact affects the sensors attached to the body of the robot, resulting the scanning position undesired. We pointed out this problem in a previous conference, and the measuring timing for Segway RMP was proposed. In this paper, we propose a localization algorithm in detail. By using the data in the courtyard of the university campus, some localization results are demonstrated. The experiment was conducted in the environment with some obstacles, which show the usefulness of the proposed algorithm.