We are currently working on an autonomous vehicle using the amcl package for localization. It works well enough in most cases, but it struggles in wide open areas, environments with a lot of dynamic obstacles or a combination of both.
Apart from filtering the laser scan, we are considering using GPS to aid the localization. The idea is to generate particles in regular intervals using GPS data, amount and distribution depending on the quality of the data.
My questions are:
1. Has something like this been done before?
2. Is it a good idea in the first place? I know that usually GPS data is used with an EKF to improve the odometry, which then gets fed into the localization.
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