Self localization for intelligent mobile robot using multiple infrared range scanning system

In this paper, an MIRS(Multiple Infrared Range Scanner) system and a CMB(Circular Map Building) scheme are proposed as a localization system for an intelligent service mobile robot such as a cleaning robot. To verify the proposed method, we designed hardware and software for the multiple IR range scanner system. The performance and accuracy of the developed system are verified according to comparison of measured distance with real distance. After CMB, map is filtered for precision. At the conclusion, verify the accuracy of presented method by comparing the built map and real environment.