Localization of mobile robots via an enhanced particle filter

Chen Chien Hsu, Ching Chang Wong, Hung Chih Teng, Nai Jen Li, Cheng Yao Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A self-localization method entitled enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search (NM-EPF) for autonomous mobile robots is proposed in this paper. To evaluate the performance of the localization scheme, an omnidirectional vision device is mounted on top of the robot to analyze the environment of a soccer robot game field. Through detecting the white boundary lines relative to the robot in the game field, weighting for each particle representing the robot's pose can be updated via the proposed NM-EPF algorithm. Because of the efficiency of the NM-EPF, particles converge to the correct location of the robot in a responsive way while tackling uncertainties. Simulation results have shown that efficiency in robot self-localization can be significantly improved while maintaining a relatively smaller mean error in comparison to that via conventional particle filter.

Original languageEnglish
Title of host publication2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010 - Proceedings
Pages323-327
Number of pages5
DOIs
Publication statusPublished - 2010 Oct 18
Event2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010 - Austin, TX, United States
Duration: 2010 May 32010 May 6

Publication series

Name2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010 - Proceedings

Other

Other2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010
CountryUnited States
CityAustin, TX
Period10/5/310/5/6

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Keywords

  • Nelder-Mead simplex search
  • Particle filter
  • Robot localization
  • Tournament selection

ASJC Scopus subject areas

  • Instrumentation

Cite this

Hsu, C. C., Wong, C. C., Teng, H. C., Li, N. J., & Ho, C. Y. (2010). Localization of mobile robots via an enhanced particle filter. In 2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010 - Proceedings (pp. 323-327). [5488234] (2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010 - Proceedings). https://doi.org/10.1109/IMTC.2010.5488234