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 (, , ,