Implementation of the Particle Filter in an embedded system for the localization of a differential mobile robot

Abstract

This present work proposes the implementation of the particle filter in an embedded system to estimate the global location of a non-holonomic mobile robot in a structured environment. The algorithm developed in LabVIEW™ software combines probabilistic models of the robot and its movement and is based on the information of an ultrasonic sensor to estimate the global pose of the robot. At the end of the article, simulated and practical results, conclusions and recommendations are presented.