The Position Estimation of Mobile Robot Under Dynamic Environment

Abstract

Localization is most important and necessary technology for mobile robot to work well. The robots need to recognize their position and pose in known environment as well as unknown environment. In the future, the robots will be human-friendly robots that are able to coexist with humans in dynamic space. The localization includes several restrictions which arise from dynamic obstacles - people, moving chair, and so on. It is desirable for a mobile robot to estimate his position using dynamic obstacles. In this paper, we propose the method for the localization of the mobile robot using a moving object. Throughout the computer simulation experiments, its performance is verified.