Research Article
A New Robust Method for Mobile Robot Multifloor Navigation in Distributed Life Science Laboratories
Algorithm 1
Localization method in multifloor environment.
Input: SGM Raw data in alone mode (, , , ) | Input: Relative Map | : Number of Floor | : Number of landmark for each floor | CF: Current Floor | CLP: Current Landmark Position | ) For //Floor Selection | () For //landmark Selection | () If //search about matched Landmark ID | () CF = | () CLP = | () End IF | () End For | () End For | () Apply (5) to correct the landmark orientation (, , ) | () Apply (6) as following: = + + | () Apply (7) as following: = + + | () Return robot position in global map (, , , |
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