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Probabilistic Localization for Mobile Robot with only Three Ultrasonic Sonar

Widyawardana Adiprawita, Adang Suwandi Ahmad, Jaka Sembiring, Bambang R. Trilaksono


This paper present a particle filter for mobile robot localization also known as Monte Carlo Localization (MCL) to solve the localization problem of autonomous mobile robot. A new resampling mechanism is proposed. This new resampling mechanism enables the particle filter to converge quicker and more robust to kidnaping problem. This particle filter is simulated in MATLABĀ  and also experimented physically using a simple autonomous mobile robot built with Lego Mindstorms NXT with 3 ultrasonic sonar and RWTH Mindstorms NXT Toolbox for MATLAB to connect the robot to MATLAB. The particle filter with the new resampling algorithm can perform very well in the simulation as well as in physical experiments

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