I am doing Local Localisation with sonar, particle filter (i.e all particles are initially with robot pose).
I have grip map of environment. When I execute algorithm in environment (where doors are closed/open), particles are not able to followup the robot.
I don't have random particles since I know the initial position of the robot exactly.
Adding random particle will change the pose of robot (i am find median of particles as robot pose).
Any idea/methods how to improve local localisation?
I want to know, do I need random variable if I am doing local localisation? And how do I improve localisation if there are many changes in the map without adding random particles?