Mechanism for preventing premature convergence in robot localization

Chiang Heng Chien; Chen-Chien James Hsu; Wei-Yen Wang; Wen Chung Kao

doi:10.1109/ICCE-Berlin.2015.7391305

Mechanism for preventing premature convergence in robot localization

Chiang Heng Chien, Chen-Chien James Hsu, Wei-Yen Wang, Wen Chung Kao

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we propose a new approach to solve the premature convergence problem in Monte Carlo Localization for global localization, entitled "a mechanism for preventing premature convergence". The algorithm uses a referenced relative vector to rearrange weight for each sample, allowing better exploration of a symmetrical environment, resulting in preventing premature convergence problem to converge particles successfully. Simulations have confirmed that the proposed approach can offer notable improvement in the localization performance.

Original language	English
Title of host publication	5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015
Editors	Jose Maria Flores-Arias, Stefan Mozar, Dietmar Hepper, Milan Z. Bjelica, Hans L. Cycon
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	445-446
Number of pages	2
ISBN (Electronic)	9781479987481
DOIs	https://doi.org/10.1109/ICCE-Berlin.2015.7391305
Publication status	Published - 2016 Jan 25
Event	5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015 - Berlin, Germany Duration: 2015 Sep 6 → 2015 Sep 9

Publication series

Name	5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015

Other

Other	5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015
Country	Germany
City	Berlin
Period	15/9/6 → 15/9/9

Keywords

Global Localization
Mobile Robot
Monte Carlo Localization
Premature Convergence

ASJC Scopus subject areas

Computer Networks and Communications
Computer Science Applications
Hardware and Architecture
Media Technology

Access to Document

10.1109/ICCE-Berlin.2015.7391305

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Cite this

Chien, C. H., Hsu, C-C. J., Wang, W-Y., & Kao, W. C. (2016). Mechanism for preventing premature convergence in robot localization. In J. M. Flores-Arias, S. Mozar, D. Hepper, M. Z. Bjelica, & H. L. Cycon (Eds.), 5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015 (pp. 445-446). [7391305] (5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCE-Berlin.2015.7391305

Mechanism for preventing premature convergence in robot localization. / Chien, Chiang Heng; Hsu, Chen-Chien James ; Wang, Wei-Yen; Kao, Wen Chung.

5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015. ed. / Jose Maria Flores-Arias; Stefan Mozar; Dietmar Hepper; Milan Z. Bjelica; Hans L. Cycon. Institute of Electrical and Electronics Engineers Inc., 2016. p. 445-446 7391305 (5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Chien, CH, Hsu, C-CJ , Wang, W-Y & Kao, WC 2016, Mechanism for preventing premature convergence in robot localization. in JM Flores-Arias, S Mozar, D Hepper, MZ Bjelica & HL Cycon (eds), 5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015., 7391305, 5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015, Institute of Electrical and Electronics Engineers Inc., pp. 445-446, 5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015, Berlin, Germany, 15/9/6. https://doi.org/10.1109/ICCE-Berlin.2015.7391305

Chien CH, Hsu C-CJ , Wang W-Y, Kao WC. Mechanism for preventing premature convergence in robot localization. In Flores-Arias JM, Mozar S, Hepper D, Bjelica MZ, Cycon HL, editors, 5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 445-446. 7391305. (5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015). https://doi.org/10.1109/ICCE-Berlin.2015.7391305

Chien, Chiang Heng ; Hsu, Chen-Chien James ; Wang, Wei-Yen ; Kao, Wen Chung. / Mechanism for preventing premature convergence in robot localization. 5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015. editor / Jose Maria Flores-Arias ; Stefan Mozar ; Dietmar Hepper ; Milan Z. Bjelica ; Hans L. Cycon. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 445-446 (5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015).

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