Dynamic localization with hybrid trilateration for mobile robots in intelligent space

In this paper, we propose a new localization algorithm based on a hybrid trilateration algorithm for obtaining an accurate position of a robot in intelligent space. The proposed algorithm is also able to estimate a position of the moving robot by using the extended Kalman filter, taking into consideration time synchronization and velocity of the robot. For realizing the localization system, we employ several smart sensors as beacons on the ceiling in intelligent space and as a listener attached to the robot. Finally, simulation results show the feasibility and effectiveness of the proposed localization algorithm compared with existing trilateration algorithms.