Map based indoor robot navigation and localization using laser range finder

This paper presents a map based robot navigation and localization algorithm using laser range finder for indoor environments. A navigation path is given by the sequence of grids and global map information is represented by the list of vertexes. The grid based navigation facilities path planning as well as complements localization with priori information of the grid sequence. The pattern of vertexes is represented by distance, adjacency, and slant among them for the comparison between map information and range data. A mobile robot is globally localized by finding the matched pattern between the set of vertexes from the map and the set of vertexes from the range data. The proposed method is verified with actual range data from laser range finder.