AFast Robot Localization Method Based on Monte Carlo Sampling

Abstract

Localization is an essential capability of intelligent robots. However, in real-world constrained environments, robots often cannot rely on external localization systems. Therefore, this paper proposes an online particle-filter localization method based on Monte Carlo sampling. The method is applied to the localization of a mobile robot in a maze environment and requires only four range sensors mounted on the front, rear, left, and right sides of the vehicle, without the need for any heading information. Simulation experiments demonstrate that even in a maze where local regions are highly similar, the vehicle can still achieve relatively accurate localization, thereby providing a fast and effective approach for robot localization in complex environments.