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Localization of mobile robots

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  1. 1. OCALIZATION OF MOBILE ROBOTS Dilupa Herath Supervised by: 1. Prof S.D Pathirana 2. Mr. Darshana Athauda
  2. 2. WHAT IS LOCALIZATION? oWhere am I?
  3. 3. EXTERNAL AND INTERNAL REFERENCES External references: GPS IPS (RF ranging)
  4. 4. External referencing is accurate Easy to use Expensive Limits the range of operation Have to use a third party map
  5. 5. Internal referencing Using LRF sensor
  6. 6. Area mapping
  7. 7. Localization using the map
  8. 8. Probability based algorithm has to be used for localization. Monte Carlo Localization algorithm Expected accuracy is 10cm
  9. 9. FUTURE PLANS Localization using image processing
  10. 10. THANK YOU!

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