Performance analysis of localization algorithm for mobile robot

Mohd Sahabuddin, Nur Nabila Husna (2020) Performance analysis of localization algorithm for mobile robot. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The ability to navigate the mobile robots in the human environment is a need in order to keep a safe and reliable way to overcome the loss of the mobile robot position. To solve the localisation problem for a mobile robot, the Particle Filter algorithm is used to achieve the required robustness and accuracy. Particle Filter is a technique from estimation theory that used a set number of particles in order to detect the position of the mobile robot. There are two types of results that have been analysed in this paper. First is the Particle Filter localization algorithm will be simulated and the performance of the mobile robot will be investigated based on the accuracy of the robot’s state. C++ coding is used to run the simulation of the approaches of the Particle Filters. The performance of the algorithm using a set number of particles as the parameters in which will be varied in order to determine the accuracy of the localisation method. It is important investigate the effect of the number of particles used on accuracy of robot’s state.

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