Analýza a simulace lokalizačních algoritmů a senzorů mobilních robotů

Abstract

The bachelor’s thesis deals with localization sensors and algorithms used in mobile robotics. In the review part, an analysis of the current state of sensors used for mobile robot localization is carried out and an overview of localization algorithms is presented. The selected localization methods are then compared in terms of the possibility of global localization, implementation complexity, and computational complexity. Based on this comparison, a method suitable for the practical part of the thesis was selected. In the practical part, a simulation of this method is subsequently carried out in a simulation environment.