Robot Localisation in Known Environment Using Monte Carlo Localisation

  • David Obdržálek
  • Stanislav Basovník
  • Pavol Jusko
  • Tomáš Petrůšek
  • Michal Tuláček
Conference paper

DOI: 10.1007/978-3-642-16370-8_9

Part of the Communications in Computer and Information Science book series (CCIS, volume 82)
Cite this paper as:
Obdržálek D., Basovník S., Jusko P., Petrůšek T., Tuláček M. (2010) Robot Localisation in Known Environment Using Monte Carlo Localisation. In: Gottscheber A., Obdržálek D., Schmidt C. (eds) Research and Education in Robotics - EUROBOT 2009. EUROBOT 2009. Communications in Computer and Information Science, vol 82. Springer, Berlin, Heidelberg

Abstract

In this paper we present our approach to localisation of a robot in a known environment. The decision making and the driving is much harder to be done without the knowledge of the exact position. Therefore we discuss the importance of the localisation and describe several known localising algorithms. Then we concentrate on the one we have chosen for our application and outline the implementation supporting various inputs. Combining of the measurements is also discussed. In addition to well known inputs like odometry and other simple inputs we describe deeper our beaconing system which proved to be very useful.

Keywords

Autonomous robot Localisation Monte Carlo Localisation 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • David Obdržálek
    • 1
  • Stanislav Basovník
    • 1
  • Pavol Jusko
    • 1
  • Tomáš Petrůšek
    • 1
  • Michal Tuláček
    • 1
  1. 1.Faculty of Mathematics and PhysicsCharles University in PraguePraha 1Czech Republic

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