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A practical self-localization scheme for mobile robots is proposed and implemented by utilizing sonarsensors.Specifically,the localization problem is solved by employing Monte Carlo method with a newmechanism proposed to calculate the samples’ weights; the convergence and veracity of the sample set areguaranteed by the designed resampling and scattering process.The proposed self-localization algorithm isfully implemented on a specific mobile robot system,and experimental results illustrate that it provides anefficient solution for the kidnapped problem.
A practical self-localization scheme for mobile robots is proposed and implemented by utilizing sonarsensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism of to calculate the samples’ weights; the convergence and veracity of the sample set areguaranteed by the designed resampling and scattering process.The proposed self-localization algorithm isfully implemented on a specific mobile robot system, and experimental results illustrate that it provides anefficient solution for the kidnapped problem.