Local Grid Map Based Rough Localization For The Mobile Robot By Using Self-Organization Map

Recently, localization for mobile robot has been studied a lot. Up to now, most localization systems which are reliable and efficient are equipped with expensive sensors such as laser scanner and high performance CPU with fast computing. But, small and cost effective robot such as service robot for home cleaning cannot be equipped with costly sensor and CPU. This paper proposes localization method which can be implemented with low cost sensors and CPU while tracking robot's pose quickly and correctly using self-organizing map