Robot Localization

Context:
    Final project of the course in Mobile Robotics that I attended during my master studies at Universitat Pompeu Fabra

Technologies:
    Python, Robot Localization and Navigation, Particle Filter

Description:
    This project consisted in stating a case of use of a mobile robot and simulate its execution implementing a localization algorithm, its motion model and sensor model. The simulation developed represents a differential robot which has to go through all goal positions to take photos of plants. This uses a Particle Filter implemented from scratch with Python to perform its localization taking into consideration gaussian error on its motion and sensor models. The library PyGame was used to display it.
    This project allowed me to put into practice the localization theory learned at class and understand better the navigation of mobile robotics in an applied case.

Github repository: github.com/pnonell/localization-robotics

Video: