Online navigation of mobile robots using laser scanner

This paper presents a theoretical analysis of the application of different sensors for estimating the current position and orientation of the mobile robot. The paper also presents a new method for such navigation. This method is based on a laser scanner. This sensor determines straight edges of the obstacles (parts of walls), compares them with the previously memorised map of such edges, and estimates location and orientation of the robot. A new concept of gyroscope application is also presented.