Localization of mobile robots using Hokuyo URG Laser Range Finder

1. OCALIZATION OF MOBILE
ROBOTS
Dilupa Herath
Supervised by:
1. Prof S.D Pathirana
2. Mr. Darshana Athauda

2. WHAT IS LOCALIZATION?
oWhere am I?

4. EXTERNAL AND INTERNAL
REFERENCES
External references:
 GPS
 IPS (RF ranging)

6. External referencing is accurate
Easy to use
Expensive
Limits the range of operation
Have to use a third party map

7. Internal referencing
Using LRF sensor

9. Area mapping

10. Localization using the map

11. Probability based algorithm has to be used for
localization.
Monte Carlo Localization algorithm
Expected accuracy is 10cm

12. FUTURE PLANS
Localization using image processing

13. THANK YOU!