ROS Architecture for Indoor Localization of Smart-AGVs Based on SA-MCL Algorithm

Localization is a problem in mobile robotics, which is widely studied and tries to determine the instantaneous position and orientation of the robot. However, the studies that present the necessary infrastructure for real-world applications of the developed methods are in the minority. Therefore, in this study, the architecture required to implement the updated SA-MCL algorithm with the ellipse based energy model in the ROS environment is given. According to the proposed architecture, this algorithm is utilized in a real application and the obtained results are shown. Thus, it is aimed that the researchers who have ROS enabled experimental setup and/or robot model prepared in ROS-Gazebo environment can easily apply the method.