Relevant positioning of a mobile robot using a particle filter design approach

Abstract

The present paper proposes a new framework based on a python code using the particle filter approach to monitor and estimate accurately the positions and the directions of a mobile robot. As a matter of fact, the real time localization of such a mobile robot is a challenging task due to diversified uncertainties and temporal changes in the environmental circumstances, measurement noises as well as errors of sensors used for anticipating the trajectory. The efficacy and the outstanding performances of the proposed particle filter-based real time localization approach are demonstrated via numerical simulation on an intelligent autonomous mobile robot with a considerable developed python code.