Model based robot localization using onboard and distributed laser range finders

In this paper we present a method for estimating the position of mobile robots using a combination of both robot’s onboard sensors and sensors at fixed locations in the environment, where we use laser range finders as sensors. This is a situation which arises in so-called Intelligent Spaces, where there are both static sensors and mobile robots present. The method we present extends the robot localization methods based on occupancy grids, however here occupancy grids are used to represent not only the geometry of the environment but also that of the robot. For tracking the robot we employ a particle filter. The details of the method are given and experimental results are shown to illustrate the method.