Global Matching for Air Conditioning Inspection Robot

This paper proposes the navigation system of autonomous mobile robot. The conventional robot was moved in the navigation method based on the landmark recognition. But, the landmark was often lost sight of, as the result the robot's self-position was lost. The authors propose the method that the error that was occurred by the robot is recovered. The method can decide the self-position by using the information on the corner, windows and doors of the room.