LOCALIZATION OF MOBILE ROBOTS

Dilupa HerathSupervised by:

1. Prof S.D Pathirana

2. Mr. Darshana Athauda

WHAT IS LOCALIZATION?

oWhere am I?

EXTERNAL AND INTERNAL REFERENCES

External references:GPS

IPS (RF ranging)

External referencing is accurate

Easy to use

Expensive

Limits the range of operation

Have to use a third party map

Internal referencing

Using LRF sensor

Area mapping

Localization using the map

Probability based algorithm has to be used for localization.

Monte Carlo Localization algorithm

Expected accuracy is 10cm

FUTURE PLANS

Localization using image processing

THANK YOU!