Research on Localization Algorithms for Mobile Robots Based on Laser and Inertial Navigation Fusion

This paper primarily investigates localization algorithms for mobile robots based on laser reflectors. It proposes an ICP (Iterative Closest Point) laser odometry method based on sparse point clouds from reflectors, which provides motion updates for the particle set. Continuous localization of the mobile robot is achieved through particle filtering. Experimental comparisons indicate that this localization algorithm has high positioning accuracy and strong robustness against abnormal interference.