Localization of mobile robotusing particle filterat known environment

Abstract

One of the critical components of localization is the robot's ability to locate itself on a partially map. This becomes challenging when the robot experiences positioning error, does not have an external positioning device, nor the luxury of engineered landmarks placed in its free space. This paper presents a new method for localization. When the mobile robot works, the robot from within environment must presume location of oneself accurately. For this, the location recognition algorithm is required tracking location from start point and recovering lost location. In this paper, we propose location recognition algorithm using advanced particle filter for tracking location from start point and recovering lost location. As a result, it can increase robustness and accuracy of localization. The performance of the proposed algorithm was verified by experiments.