Abstract
This paper proposes a new method of estimating the position and heading angle of a mobile robot navigating in indoor environments. In this paper, typical positioning errors of a localization method of using two beacons are computed. The proposed localization method utilizes three passive beacons in order to reliably determine the mobile robot's current position and heading angle. Localization experiments using two beacons as well as three beacons are conducted in indoor environments. The performance and validity of the proposed method were evaluated through a series of the experiments and the experimental results of the navigation were presented.
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