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	2015/09/06 → 2015/09/09

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

Fingerprint Dive into the research topics of 'Mechanism for preventing premature convergence in robot localization'. Together they form a unique fingerprint.

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, W-C 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, 2015/09/06. https://doi.org/10.1109/ICCE-Berlin.2015.7391305

Chien CH, Hsu C-CJ , Wang W-Y , Kao W-C. 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).

@inproceedings{a7dada853ec94197aa114e2f0f95b492,

title = "Mechanism for preventing premature convergence in robot localization",

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.",

keywords = "Global Localization, Mobile Robot, Monte Carlo Localization, Premature Convergence",

author = "Chien, {Chiang Heng} and Hsu, {Chen-Chien James} and Wei-Yen Wang and Wen-Chung Kao",

year = "2016",

month = jan,

day = "25",

doi = "10.1109/ICCE-Berlin.2015.7391305",

language = "English",

series = "5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "445--446",

editor = "Flores-Arias, {Jose Maria} and Stefan Mozar and Dietmar Hepper and Bjelica, {Milan Z.} and Cycon, {Hans L.}",

booktitle = "5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015",

note = "5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015 ; Conference date: 06-09-2015 Through 09-09-2015",

}

TY - GEN

T1 - Mechanism for preventing premature convergence in robot localization

AU - Chien, Chiang Heng

AU - Hsu, Chen-Chien James

AU - Wang, Wei-Yen

AU - Kao, Wen-Chung

PY - 2016/1/25

Y1 - 2016/1/25

N2 - 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.

AB - 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.

KW - Global Localization

KW - Mobile Robot

KW - Monte Carlo Localization

KW - Premature Convergence

UR - http://www.scopus.com/inward/record.url?scp=84977625086&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84977625086&partnerID=8YFLogxK

U2 - 10.1109/ICCE-Berlin.2015.7391305

DO - 10.1109/ICCE-Berlin.2015.7391305

M3 - Conference contribution

AN - SCOPUS:84977625086

T3 - 5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015

SP - 445

EP - 446

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

A2 - Flores-Arias, Jose Maria

A2 - Mozar, Stefan

A2 - Hepper, Dietmar

A2 - Bjelica, Milan Z.

A2 - Cycon, Hans L.

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015

Y2 - 6 September 2015 through 9 September 2015

ER -

Mechanism for preventing premature convergence in robot localization

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Cite this