A hybrid algorithm for global self-localization of indoor mobile robots with 2-D isotropic ultrasonic receivers

A novel global self localization algorithm is described based on a hybrid method to determine an accurate posture (position and orientation) of mobile robots in our ultrasonic localization system. Our localization system consists of several ultrasonic transmitters fixed at reference positions in global coordinates and a 2D isotropic ultrasonic receiver array composed of receivers on the top of mobile robot. A hybrid global self localization algorithm with selective direct and indirect methods is suggested for the best accuracy obtainable. Simulation and experimental results show the validity and feasibility of the proposed algorithm compared with relevant algorithms.