An approach for estimating the orientation of mobile robots using the angle histogram

A novel approach using angle histogram for estimating the orientation of mobile robots is presented. The angle histograms are generally established by the laser scans, where the pose of a mobile robot is unchanged. However it is difficult for application with the sonar scans, due to arc segments extracted from the sonar scans. In this paper, we put forward a novel approach to establish the angle histograms by use of sonar data from a moving robot and estimate the angle from the heading direction of the robot to the dominant orientation of the environment.