Uncertainty-based localization in a topological robot navigation system

摘要

Localization is the process of knowing and updating continuously a robot position with regards to its environment based on sensor information. Localization strategies are required for accurate mobile robot navigation and they should be adapted to the new tendencies and tools. The main purpose of this work is to develop a localization system that allows a mobile robot to know its position at each moment as well as to identify when it has gotten lost.