Implementation of particle filtering in a turtlebot

Abstract

The interest in autonomous mobile robot applications is growing. In order to be autonomous the robots need to have a certain awareness of their environment. Therefore maps are build and sensor data is obtained. One of the problems is to localize a robot with the use of sensor data in a known environment. This can be done with the use of a localization method called particle filter. This is a robust localization method that allows the robot to estimate its position in a given map. We were able to implement this method into the turtlebot platform and the performances are tested on different environments