9. Navigation and control system
MiR250 User Guide (en) 11/2020 - v.1.3 ©Copyright 2020: Mobile Industrial Robots A/S. 80
Failed localization Successful localization
Figure 9.10. 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. 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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