Uniform Monte Carlo Localization - Fast and Robust Self-Localization Method for Mobile Robots

In this paper, we describe a novel self-localizationalgorithm. Self-Localizationmethods are required for to lowercomputational costand handling vague sensordata. Thus, we propose to use only uniformdistributionto represent probability distributions in Monte Carlo Localization (MCL),and name this method UniformMonte Carlo Localization(UniformMCL). Wemanifestthe low computational cost and robustness of UniformMCL in the environment of RoboCup Sony Legged Robot League. Keywords - Localization,Mote Carlo Method, Mobile robots, RoboCup.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Ryuichi Ueda, Takeshi Fukase, Yuichi Kobayashi, Tamio Arai, Hideo Yuasa, Jun Ota
• Keywords: ICRA 2002, Localization, Method Uniformmonte Carlo, Monte Carlo Localization, Robotics