Localization of mobile robots
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Localization of mobile robots involves determining a robot's location using external references like GPS or internal references from sensors like laser rangefinders. The document discusses using a laser rangefinder to build an internal map for localization then using a probabilistic Monte Carlo Localization algorithm to localize a robot within the map with an expected accuracy of 10cm. It also mentions plans to experiment with localization using image processing.
Localization of mobile robots
- 1. OCALIZATION OF MOBILE ROBOTS Dilupa Herath Supervised by: 1. Prof S.D Pathirana 2. Mr. Darshana Athauda
- 2. WHAT IS LOCALIZATION? oWhere am I?
- 4. EXTERNAL AND INTERNAL REFERENCES External references: GPS IPS (RF ranging)
- 6. External referencing is accurate Easy to use Expensive Limits the range of operation Have to use a third party map
- 7. Internal referencing Using LRF sensor
- 9. Area mapping
- 10. Localization using the map
- 11. Probability based algorithm has to be used for localization. Monte Carlo Localization algorithm Expected accuracy is 10cm
- 12. FUTURE PLANS Localization using image processing
- 13. THANK YOU!