Mobile robot localization using Particle Swarm Optimization
This is a simple localization algorithm for mobile robots that accepts a prebuilt map of the robot's enviornment stored as an occupancy grid and a laser scan and returns the best estimated location of the robot.
A sample map and a few laser scan datasets are included in the repository. Run the Localize_Search to attempt an exhastive search for the best pose estimate and display a plot of the fitness function.