In this article, we introduce a localization system to reduce the accumulation of errors existing in the dead-reckoning
method of mobile robot localization. Dead-reckoning depends on the information that comes from the encoders. Many
factors, such as wheel slippage, surface roughness, and mechanical tolerances, affect the accuracy of dead-reckoning.
Therefore, an accumulation of errors exists in the dead-reckoning method. In this article, we propose a new localization