Global localization using distances between reflectors

This paper proposes a global localization method using reflectors for mobile robots. Where the natural feature is not clear, the localization using only natural features is difficult. Furthermore, where the surrounding environment is changed frequently, there is a problem needs to be updated the global map each time. For these, we propose a global localization using reflectors. Global localization is possible to perform the localization at random position without information on the previous state. In this paper, we use only distances between reflectors measured by laser range finder sensor. In experimental results, we verified that proposed method can estimate the global pose in a real environment.