LRF-based self-localization of mobile robot using Extended Kalman Filter

This paper presents a method of map building using interactive GUI for a mobile robot. The reason we proposed this method is that it is difficult for a mobile robot to generate an accurate map although many kinds of sensors are used. In proposed system, by using interactive GUI, the operator can modify map built by sensors, compared with the real-time video from Web camera. In order to improve self-localization of mobile robot, extended Kalman filter (EKF) was used. Some simulation and experiments have been done and the results verified using EKF can improve the precision of localizing mobile robot. This paper introduces the architecture of the proposed system.