Global state estimation by grid point observer

Dead reckoning and star reckoning are two basic self-localization methods for vehicles, but each method has inherent weakness. To recover these weaknesses, sensor-fusion via an initial state observer has proposed. However, the method can be applied under the assumption that the vehicles move in the limited field. In this paper, we propose a new sensor- fusion method by using a grid point observer. We confirm the effectiveness of proposed method by computer simulation and experiments for self localization of a two-wheeled mobile robot.