localization - Robot Navigation
Localization As discussed,Localization is the process of position it self with respect to the surrounding, surrounding can be define as the global or the local . Consider a person who is in a dark room. if he does not have sens of where he is with respect to the features of the room , next movement could not grantee that he will not hit a wall. So it is important to localize itself if it is moving with respected to it surrounding. If the system has map of it's surrounding , once he has the current and goal positions, actions are straight forward. If there is no map,like in our case, it need to build a accurate enough map while exploring. And also movement should not be too costly to the goal. So to resolve this problem karlman filter integrated particle filter is used to probabilistically map the position and the surrounding. Lidar Scan Data since 2D Lidar is used , Algorithm is only compatible with signal ,one set of distance measurement around fix z axis coordina...