Generic Architecture and Localization of a Mobile Robot

In this paper, we aim developing the issue of mobile robot’s localization in a known environment. The robot’s model and map parameters are initially analyzed and defined. A generic architecture of the system is then presented. The localization algorithm is developed based on the robot’s model and data obtained from exteroceptive sensors. A step of optimisation using the Levenberg Marquardt algorithm is then followed. Thereafter, simulation results are described to show the performance of the proposed algorithm. We followed step by step obtained results. Several improvements have been introduced to the algorithm to correct the location process of the mobile robot. Experimental results show that the robot can be tracked with a high accuracy which reflects the efficiency and the reliability of the localization method.