Algorithm Based on Improved Robust Robot Monte Carlo Localization

This paper puts forward a kind of algorithm based on Improved Robust Robot Monte Carlo Localization(IRR-MCL),with the view of researching the particle degeneracy phenomenon and improving the particle refining performance in the process of the particle filter.Firstly,distribute using the proposal about accurately designing a particle filter by the extended Kalman filter and blend the current observational information into the sampling process of progression importance in order to improve the filtering effect and reduce the required particles.Then present the implementation details of IRR-MCL algorithm.Experimental results show that this algorithm,compared with the traditional methods,has improved significantly in terms of localizing accuracy and robustness.