Portable Multi-Hypothesis Monte Carlo Localization for Mobile Robots
Alberto García,Francisco Martín,José Miguel Guerrero,Francisco J. Rodríguez,Vicente Matellán,Alberto García,Francisco Martín,José Miguel Guerrero,Francisco J. Rodríguez,Vicente Matellán
Self-localization is a fundamental capability that mobile robot navigation systems integrate to move from one point to another using a map. Thus, any enhancement in localization accuracy is crucial to perform delicate dexterity tasks. This paper describes a new localization algorithm that maintains several populations of particles using the Monte Carlo Localization (MCL) algorithm, always choosing...
