Monte Carlo Localization with a binary sensor on Lego NTX

Localization with only a binary color sensor. A noise model for the position of the robot, the sensor and the communication latency are used along with basic MCL after Thrun and Fox etc. In the end, the encoder data was not used since the bluetooth latency is so variable it swamps any useful information from the encoders. Better motor primitives would improve this immensely. Still you can do localization without encoders!

Category:

Science & Technology

Tags:

• localization
• robotics
• nxt