Mobile robot localization based fusion of ultrasonic sensors and odometers

We present in this paper an application of multi-sensorial fusion for the mobile robot localization. In first time we proceeded to the localization of the mobile robot while using two different methods in goal to discern features of each of them. Then in a second time we proceeded to a fusion of data between the two used methods, achieving what one calls localization thus hybridizes, in the goal to improve the quality of localization in terms of precision and reliability. This article describes the developed technique and presents some results.