Monte Carlo Localization for Robots
The application provides a graphical interface that makes it easy to 'play' with the Monte Carlo localization algorithm and see it in action. As a quick teaser here is an animated gif that shows the content of main tab of the application through multiple simulation steps demonstrating the Monte Carlo localization of a simulated robot driving within the confines of a two dimensional area.
The following subsections dig into the various components of the application and the underlying algorithm in more detail. We start with the probabilistic motion model of the robot.
- Probabilistic Robotics by Sebastian Thrun, Wolfram Burgard, and Dieter Fox
- Velocity Motion Model by Çetin Meriçli
- Mobile Robot Localization using Sonar Ranging and WLAN Intensity Maps; Bachelor’s thesis by Janne Laaksonen