A study of Monte Carlo localization on robot operating system

摘要

Localization is one of the problems that often appears in the world of robotics. Monte Carlo Localization (MCL) are the one of the popular algorithms in localization because easy to implement on issues Global Localization. This algorithm using particles to represent the robot position. MCL can simulated by Robot Operating System (ROS) using robot type is Pioneer3-dx. In this paper we will discuss about this algorithm on ROS, by analyzing the influence of the number particle that are used for localization of the actual robot position.