Research on wide range localization for driverless vehicle in outdoor environment based on particle filter

The localization information is the premise of robot autonomous navigation. In this paper, intelligent vehicle is used as a platform for the present study. We perceive motion information and environment signpost information through wheel speed sensor and laser infrared radar SICK respectively, and realize the global localization of the vehicle with the fusion of the particle filter algorithm. The experimental result shows that when the environment signpost position is known, the global positioning error can be less than 1m.