Particle Swarm Localization for Mobile Robots Using a 2D Laser Sensor

Abstract

Mobile robot localization is a complex task, specially in unstructured indoor environments, due to noise and wrong data association from sensors. The localization procedure is even harder when the vehicle has low confidence about its last pose estimate, situation that requires a Global Localization procedure. In this work, a Global Localization algorithm based on Particle Swarm Optimization (PSO) is integrated with a Pose Tracking algorithm, the Perfect Match, to obtain a robust localization technique. Results show that this approach can solve the problem of Global Localization with good performance.