A Low-Cost Localization System Based on Artificial Landmarks

The present work proposes and evaluates a technique for improving the Turtlebot¹ mobile robot localization system for navigation in unknown structured environments. In our proposal, the localization is refined by using a dense artificial landmark setup fixed in the environment ceiling. Although the use of artificial landmarks restricts the applicability of this methodology, the proposed methodology has the advantage of not depending on a previous mapping of the landmarks distribution in the environment, which makes its adoption a simple process.