Reliable and efficient landmark-based localization for mobile robots

I. Loevsky, I. Shimshoni

Research output: Contribution to journalArticlepeer-review


This paper describes an efficient and robust localization system for indoor mobile robots and AGVs. The system utilizes a sensor that measures bearings to artificial landmarks, and an efficient triangulation method. We present a calibration method for the system components and overcome typical problems for sensors of the mentioned type, which are localization in motion and incorrect identification of landmarks. The resulting localization system was tested on a mobile robot. It consumes less than 4% of a Pentium4 3.2 GHz processing power while providing an accurate and reliable localization result every 0.5 s. The system was successfully incorporated within a real mobile robot system which performs many other computational tasks in parallel.

Original languageEnglish
Pages (from-to)520-528
Number of pages9
JournalRobotics and Autonomous Systems
Issue number5
StatePublished - 31 May 2010


  • AGV
  • Angle measurements
  • Landmarks
  • Mobile robots
  • Robot localization

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • General Mathematics
  • Computer Science Applications


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