Robot charger docking localization

A mobile robot configured to navigate from a location and to dock with a robot charger docking station for re-charging, the robot comprising:

• a wheeled mobile base having an electrical charging port and a processor, wherein the processor is configured to:
• obtain an initial pose associated with the robot charger docking station;
• obtain a mating pose associated with the robot charger docking station;
• navigate the wheeled mobile base from the location to the initial pose using scan matching to a first map;
• navigate the wheeled base from the initial pose to the mating pose using scan matching to a second map, thereby causing the electrical charging port of the wheeled base to mate with an electrical charging assembly of the robot charger docking station.

A non-transitory computer readable medium having stored thereon instructions, which, when executed by a processor of a robot, cause the robot to execute the steps comprising:

• receiving an initial pose associated with a robot charger docking station;
• receiving a mating pose associated with the robot charger docking station;
• controlling a first navigation of a robot from a location to the initial pose using scan matching to a first map;
• controlling a second navigation of the robot from the initial pose to the mating pose using scan matching to a second map, thereby causing the electrical charging port of the robot to mate with an electrical charging assembly of the robot charger docking station.