Small autonomous robot localization system

This paper presents localization system used for localization of a small indoor autonomous robot (30 × 30 × 35 cm). The core of the system is Monte Carlo localization technique (MCL). As inputs for the MCL, the system uses robot-mounted sensors (wheel encoders, infrared distance sensors, compass, and bumpers) and off-robot beacon system (deployed around the working area of the robot). The robot has been built as part of semester work of a student team and it has successfully participated in Czech National Cup of Eurobot Autonomous Robot Contest in 2009. Manipulators and general hardware design of the robot were specific to Eurobot 2009 contest edition, but it is possible to use the robot for other tasks in indoor environments with just little modifications.