Development of JAUS-compliant local pose component

Accurate and stable localization is one of most important function for autonomous mobile robot. To achieve, accurate and stable localization, we employ additional laser range finder to estimate accurate local position by fusing SLAM technique. In this paper, in order to confirm validity of our proposed localization algorithm, we implement as JAUS compliant Local Pose Component. Validity of developed JAUS compliant Local Pose Component is verified by both simulation and actual experiments.