Abstract: The research in autonomous mobile robot is enlarging upon low cost mobile robotics. This low cost constraint implies the use of a poor perception system and a low computing power. In such a context, algorithms have to be simple in order to be executed in real time and proof against the weaknesses of the sensing system. The solutions proposed for the localisation are based on the fact that the higher the localisation algorithm speed is the lower the error on the position and on the orientation due to the odometry is.

Keywords: Mobile robots, Ultrasonic transducers, Range data, Least-square algorithm, Position estimation, Position errors.