Simulation Methods for Traffic Control and Position Estimation of Mobile Robots

Abstract

In this paper we present a simulation approach in the field of landmark-based mobile robot navigation. A method is shown to involve statistical traffic analysis for determining critical positioning accuracy limits in certain points of the environment. We also describe an algorithm to evaluate spatial uncertainties assuming a navigation strategy. This strategy uses dead-reckoning frequently updated by absolute position measurements. We have implemented a simulation software to check the effectiveness of the new algorithms. The methods and simulation results are explained through simple examples.