This repository contains an implementation of the markov-localization-algorithm written in python.
To demonstrate its effectiveness, a robot is placed in a map with obstacles. The robot takes 8 steps and with each step, its new position is calculated. In between the steps, the robot is kidnapped and placed at a different location to show the robustnes of the algorithm in such cases.
The robots steps are the following:
| # | Direction | Measured distance to wall |
|---|---|---|
| 1 | Right | 0 |
| 2 | Up | 0 |
| 3 | Left | 0 |
| 4 | Down | 0 |
| 5 | Right | 0 |
| 6 | Top | 1 |
| 7 | Left | 5 |
| 8 | Down | 1 |
After step 4, the robot is kidnapped from position (0,0) to position (6, 4).
Below, the resulting probability-grids as well as the current position of the robot is being shown.
