This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots. Its localization is more flexible to control than wired guidance systems. However, the navigation through the laser range finder occurs with a large positioning error while it moves or turns fast. For solving this problem, the paper proposes a method to improve the positioning accuracy of a robot in an indoor environment by using a particle filter with robust characteristics in a nonlinear or non-Gaussian system. In this experiment, a robot is equipped with a laser range finder, two encoders, and a gyro for navigation to verify the positioning accuracy and performance. The positioning accuracy and performance could improve by approximately 85.5% in this proposed method.

翻译：本文旨在通过使用粒子过滤法提高机器人的性能和定位精度。 激光测距信息是一种无线导航系统,主要用于测量、定位和控制自主机器人。 其定位比有线制导系统更灵活, 更便于控制。 然而, 激光测距器的导航在移动或转速时会发生很大的定位错误。 为解决这一问题, 本文建议了一种方法, 通过使用非线性或非加西文系统中具有强性能的粒子过滤器, 提高机器人在室内环境中定位精度。 在这次实验中, 机器人配备了激光测距器、 两个编码器和用于导航的陀螺仪, 以核实定位精度和性能。 定位精度和性能在这项拟议方法中可以提高大约85.5%。