One of the challenging issues in robotics is to give a mobile robot the ability to recognize its initial pose ( position and orientation) without any human help. In this paper, the components of a mobile robot will be described in addition to the specification of the sensor that will be used. Then, the map of the environment will be defined since it is pre-defined and stored in the memory of the robot. After that, a localization algorithm has been designed, analysed and implemented to develop the ability of a mobile robot to recognize its initial pose. Finally, the final results that have been taken practically will discussed. These result will be divided into two main sub-sections; the first section describes the particles distribution over the working environment and their position update over a number of iterations. Second section will shows the update in the importance weight values over a number of iterations and for three different number of particles.


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    Titel :

    Localization of Indoor Mobile Robot Using Monte Carlo Localization Algorithm (MCL)


    Beteiligte:

    Erscheinungsdatum :

    2016-10-02


    Anmerkungen:

    American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS); Vol 26 No 1 (2016); 108-126 ; 2313-4402 ; 2313-4410


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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