10. Navigation and guidance system
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 115
Failed localization
In a failed localization, the robot cannot
determine a position where the red lines
(laser scanner data) align with the black
lines on the map.
Successful localization
When the robot can localize itself, it
determines a cluster of likely positions,
indicated in the images above as blue dots.
To make sure the robot can localize itself well using particle filtering, consider the following when
creating a map:
• There must be unique and distinguishable static landmarks on the map that are easily
recognizable. A landmark is a permanent structure that the robot can use to orient itself, such
as corners, doorways, columns, and shelves.
No distinguishable landmarks Many distinguishable landmarks
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