Redo-laserloc
- Project Name: Localization algorithm for the Pioneer robot based on 2D-map and laser measurements.
- Authors: Redouane Kachach and Jose María Cañas Plaza (jmplaza [at] gsyc [dot] es)
- Academic Year: 2004-2005
- Degree: Undergrad
- Jde Version: jde-4.2.1
- SVN Repository: source code
- Tags: robot, localization, map, laser
- Technology: c, c++, jde suite, xforms
- State: Finished
- Source License: GPLv3
- Document License: Creative Commons Attribution-Share Alike 3.0 Unported License
- Documentation:
Master Thesis: PDF (latex code)
- Presentation:
This project tries to solve localization problem in mobile robots. To solve this problem in this project we use two diferents algorithms: probability grid and Monte Carlo's particles filter. Also we use the laser measures to get data from real world and compare it with virtual measures in the algorithms.
This picture is an example of a typical execution of the probability grid algorithm in his first step.
Now you can see the probability grid algorithm in the final step with a estimate robot position.
The next picture shows the particles filter algorithm is the first step with all the estimates positions.
Here is a picture of the Monte Carlo's algorithm in his last iteration with a estimate position for the robot.
- Videos:
The next video shows a execution of the particle's filter algorithm and how it gets diferents estimates positons for the robot.
In this video you can see the problem of localization in symmetry environments
