Localization With a Low-cost Robot

The robot localization problem is a fundamental and well studied problem in robotics research. Algorithms used to estimate pose on the map are usually based on Kalman or particle filters. These algorithms are able to cope with errors, that arise due to inaccuracy of robot sensors and effectors. The performance of the localization algorithm depends heavily on their quality. This work shows performance of localization algorithm based on particle filter with small miniature low-cost E-puck robot. Information from VGA camera and eight infrared sensors are used to correct estimation of the robot’s pose.