Survey on some key technologies of mobile robot localization based on particle filter
基于粒子滤波的移动机器人定位关键技术研究综述

Aimed at the inherent deficiency in particle filter and based on the up-to-date research about Monte Carlo localization for mobile robot, some key technologies in current research were respectively summarized from the aspect of the choice of proposal distribution, the improvement of resampling strategy, the implement of effective inference, the introduce of adaptive mechanism and the integration with other methods. At the same time, the main challenges that need to be solved in this field were analyzed and some future trends about the technology of these difficulties were also presented.