A MCL simulation implementation in Zig using Raylib.

What is it?

Monte Carlo localization is a type of particle filter used in robotics to allow robots to locate their position in their environment using simulated particles.

What is this?

This is a simulation of MCL written in Zig and rendered using Raylib. The orange circle (hidden at first), represents the robot’s position based directly off of the user’s inputs. The blue circle represents this position but with an error on all axes, to simulate a real life robot. All the green dots represent the simulated particles that the robot would be creating to run MCL and based on those, the pink dot represents the position of the robot as estimated by MCL.

To move the robots around, use W/S for forward/backwards movement and A/D or arrow keys for rotation (the small black dots on the circle represent the front).