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In recent years, the mobile robot has been the concern of numerous researchersince they are widely applied in various fields of daily life. This paperapplies a virtual robot operating system (ROS) platform to develop alocalization system for robot motion. The proposed system is based on thecombination of relative and absolute measurement methods, in which the datafrom the encoder, digital compass, and laser scanner sensor are fused using theextended Kalman filter (EKF). The system also successfully eliminates theerrors caused by the environment as well as the error accumulation. Theexperimental results show good accuracy and stability of position andorientation which can be further applied for the robot working in the indoorenvironment.

A study and design of localization system for mobile robot based on ROS