Autolocalization Using the Convolution of the Extended Robot

In order to construct autonomous robots which they move in a indoor environment, it is necessary to solve several problems such as the autolocalization. The problem of the autolocalization in a robot mobile consists of it must find its location within an apriori known map of its surroundings using the perceived distances by its sensors. The difficulties come from the fact that the signals of the sensors have noise, as well as the control signals and also the map could differ from the reality of the surroundings. The method which we presented joins the measures of the sensors and the signals of control in the called map of the extended robot; through of the convolution of this map and the a priori map of the environment, we can find the best matching between them, after a search into this calculated values, the location is obtained as a configuration that corresponds to the global maximum convolution. The method was implemented in an sonar-based robot, with kinematics differential. The results have validated widely our proposal.