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 | |
| 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 |
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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
Cite this
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
}
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.
ER -