Self-localization for a Mobile Vehicle using a Grid Point Observer

Dead reckoning and star reckoning are two basic self-localization methods for vehicles. But each method has inherent weakness. To recover these weaknesses, a sensor-fusion method via an initial state observer was proposed. However, this method can be only applied to the vehicles which move in a limited field. In this paper, we propose a new sensor-fusion method by using a grid point observer. We confirm the effectiveness of the proposed method by computer simulation and experiment of self localization of a two-wheeled mobile robot.