Mechanism for preventing premature convergence in robot localization

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015
EditorsJose Maria Flores-Arias, Stefan Mozar, Dietmar Hepper, Milan Z. Bjelica, Hans L. Cycon
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages445-446
Number of pages2
ISBN (Electronic)9781479987481
DOIs
Publication statusPublished - 2016 Jan 25
Event5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015 - Berlin, Germany
Duration: 2015 Sep 62015 Sep 9

Publication series

Name5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015

Other

Other5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015
CountryGermany
CityBerlin
Period15/9/615/9/9

Fingerprint

Robots

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

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 proceedingConference 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).
@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 Kao, {Wen Chung}",
year = "2016",
month = "1",
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",

}

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 -