Navigation method of a mobile robot in daily life environment considering environmental design

In the consideration of the coexistence of a service robot with people, it is desirable that the robot should estimate its position robustly in the environment without many improvements. The localization method has been developed using standard design in the environment such as floor design pattern and featured structure. In order to increase the robustness of the localization of a robot, the suitable measurement method is able to be selectable from the multiple measurement methods in the proposed algorithm for various environments. Here, the experiment in the daily life environment was carried out and the validity was shown.