Implementation of landmark-based localization on wall-based environment for mobile robot with limited sensor resources

Localization is a well-known main problem in autonomous mobile robot. Here, Extended Kalman Filter (EKF) has received tremendous interest to solve this problem. Solving localization problem using EKF is usually done using numerous sensors, whereas using limited sensor resource with EKF for localization problem remains challenging. Here, this paper proposes EKF implementation for mobile robot localization with limited sensor resource. In order to observe the environment with limited sensors, the feature of the environment is partitioned into several segments which act as landmark. Experimental result shown that the localization results have a small error and are consistent.