Probability based Global Localization

Back Rekesh.goel@iiit.ac.in


 

AIM: aim is to obtain the location of the robot in a given map, that is to localize robot globally.
global localization means to estimate the current location of the robot without any prior guess of its initial position. their are two methods to do this:
1 Markov Localization
2 Monte Carlo Method

1  Markov Localization
In this implementation whole map is divided into small size grids and probabilty of robo being at one of such grids is calculated.

 2  Monte Carlo Method

In this implementation whole map is divided into small size scattered particles and probability is calculated such that all the particles converges to exact position of the robot.

 

 

 

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Last modified: 07/27/06