Localization of ubiquitous environment based mobile robot

In this paper, a localization method is provided using different-type sensors in ubiquitous environment. Ubiquitous based mobile robot requires information from sensors and structured environment to recognize its own position. In order to recognize the position of mobile robot, it is necessary data structure to integrate information from mobile sensors and the structured environment. An integration method is provided to take full advantage of characteristics of sensors and the structured environment. In this paper, odometric sensor is used as a mobile sensor and starLITE are used as the structured environment. Data of two sources are used as input of the proposed integration method. An extended Kalman filter (EKF) is used as integration filter to estimate sensor data error. The integration mechanism is implemented using P3DX mobile robot in ubiquitous environment.