Accurate Hybrid Global Self-Localization Algorithm for Indoor Mobile Robots With Two-Dimensional Isotropic Ultrasonic Receivers

A novel accurate hybrid global self-localization algorithm is proposed for determining the posture (or the position and the orientation) of indoor mobile robots. Our ultrasonic localization system can be constructed economically, with several ultrasonic transmitters fixed at reference positions and a 2-D isotropic ultrasonic receiver array mounted on the mobile robots. Our algorithm is a hybrid type utilizing selective direct and indirect methods to obtain the best possible accuracy on positions and orientations, which minimizes a new performance index with significant points. Simulation and experimental results demonstrate the validity and accuracy of the proposed algorithm.