Localization ofMobile Robotusing Particle Filter
Young-Joong Kim · 2006
Localization isanimportant topic inmobile robots. Itisessential that amobile robot plans movementand reaches goals. Inthis paper, wedescribed self-localizatio n technique formobile robot based onparticle filtering in active beacon system. Thebasic method istoestimate value ofposition andheading ofmobile robot using ultrasonic sensor asparticle filter isusedtoeliminate process andmeasurement noise. Several variants oftheparticle filter such as SIRandRPFareintroduced. These arediscussed andcompared with EKFforlocalization ofmobile robot. i~~ ~ ~~~~~~~ m sf: aneiforiMi