Localization for Self‐Assembly Robot Using Indoor GPS and Omni‐directional Mirror with Landmark

In this paper, we present the method of localization system that uses iGPS (indoor GPS) sensor and Omni‐directional vision sensor in the environment involving landmark. Self‐assembly robots need to know its own position to assemble to other robot. The indoor GPS (iGPS) is a simple and cheap localization sensor to adapt self‐assembly robots in the indoor environment. However, the error range of iGPS is too wide to be used in a small size robot. We assume that every robot have landmark to recognize. Then, we propose a more accurate method of localization system that uses the iGPS sensor and Omni‐directional vision sensor. We use the relative angle of robot estimation method and the linear position estimation. Then, we fuse the data from two sensors to get the accurate position.