Abstract
This paper presents a 3D positioning method for mobile robot. Three landmarks, each of which consists of two tilting reflectors, are placed in an environment. The robot senses bearing angles relative to the reflectors using the on-board laser scanner, and it finds its own 3D position and attitude based on geometry. In this paper, the laser based positioning system is integrated with a 3D dead reckoning based on wheel encoders, yaw-rate gyro and inclinometer. The integrated system can maintain highly positioning accuracy by reliably identifying the landmark reflectors in a real environment where any reflected objects except them may exist. Simulation and experimental results validated the proposed positioning method.
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