Journal of Control Science and Engineering / 2016 / Article / Alg 1

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 (, , ,