Mobile robot localization is one of the most important problems in robotics. Localization is the process of a robot finding out its location given a map of its environment. A number of successful localization solutions have been proposed, among them the well-known and popular Monte Carlo localization method, which is based on particle filters. This thesis proposes a localization approach based on particle filters, using a different way of initializing and resampling of the particles, that reduces the cost of localization. Ultrasonic and light sensors are used in order to perform the experiments. Monte Carlo Localization may fail to localize the robot properly because of the premature convergence of the particles. Using more number of particles increases the computational cost of localization process. Experimental results show that, applying the proposed method robot can successfully localize itself using less number of particles; therefore the cost of localization is decreased.


    Access

    Download


    Export, share and cite



    Title :

    Mobile robot localization failure recovery


    Contributors:

    Publication date :

    2010-01-01


    Remarks:

    Electronic Theses and Dissertations


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





    Monocular Localization of a Mobile Robot

    Fleury, S. / Baron, T. / Herrb, M. | British Library Conference Proceedings | 1993



    RSSI-based mobile robot localization datasets

    Maidana, Renan | BASE | 2018

    Free access