Performance Analysis of Monte Carlo Localization Algorithm

Bachelor thesis (2022)

Authors

M. Gökbulut Electrical Engineering, Mathematics and Computer Science

Contributors

Ranga Rao Venkatesha Prasad Embedded Systems - EEMCS (supervisor 1)
A. Simha Embedded Systems - EEMCS (supervisor 1)
Suryansh Sharma Embedded Systems - EEMCS (supervisor 1)
Lydia Y. Chen Data-Intensive Systems - EEMCS (supervisor 2)
Faculty
Electrical Engineering, Mathematics and Computer Science
Copyright: © 2022 Mert Gökbulut
Monte carlo localization Particle filter LIDAR
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Published Date

22-06-2022

Language

English

Reuse Rights

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Faculty

Electrical Engineering, Mathematics and Computer Science

Abstract

One of the key problems of swarm robotics is how the mobile robots can navigate accurately in a given environment. To achieve this, the mobile robots need to accurately determine where they are globally, or relative to other robots and landmarks. This paper is going to be an investigation of the Monte Carlo Localization algorithm in an environment containing 3 anchors. In addition, an alternative modification is suggested to this localization algorithm to improve the localization performance. An experiment is devised to assess different aspects of localization performances of these algorithms. With the experimental results, a quantitative analysis of performance figures are compared and analyzed.

Files

Thesis_8_.pdf
(.pdf | 1.09 Mb)