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 -