Localization of a Mobile Robot According to the Centre of Mass of an Environment Profile

  • V. Baranauskas Kaunas University of Technology
  • A. Derviniene Kaunas University of Technology
  • K. Sarkauskas Kaunas University of Technology
  • S. Bartkevicius Kaunas University of Technology


Method of evaluation of the mobile robot position according to centre of gravity of known environment is suggested and verified. Algorithm of coordinate's evaluation according to the centre of gravity of known environment operates reliably if deviation from real coordinates is considerable and if there are several robots in the scanning environment. It is necessary that equipment of orientation in environment (compass or gyroscope system) should be included in mobile robot. Verification of the coordinates performed using method of approach. In order to get reliable results, this procedure of verification should be performed frequently. This procedure should be performed by control system of the robot. Ill. 4, bibl. 5 (in English; abstracts in English and Lithuanian).