Localization Method Using Vector-Histogram

In this paper, we propose the localization algorithm using vector histogram matching method in environments with perpendicular walls. Conventional histogram matching method gets the wrong rotated value, because it has matched between other angle values when is a sharp rotation. In our proposed method, we do match angle values using direction of data. This method gets reference data and current data from the laser range finder. It calculates a magnitude and direction of a point adjacent. It makes a direction histogram from the scan data and calculates a rotated value of the mobile robot using cross correlation. The current data compensate as a rotated value. After getting the main direction from the reference data, two scan data make parallel to x-axis based on the main direction. Then using two scan data make x-axis histogram and y-axis histogram. It gets Deltaalpha,Deltabeta using cross correlation, where Deltaalpha and Deltabeta are variations of x-axis and y-axis. Translation value Deltax, Deltay calculates using rotated value and Deltaalpha, Deltabeta . Consequently, it accomplishes a self-localization of the mobile robot through problem solving of the histogram matching method.