Mechanism for preventing premature convergence in robot localization

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

^*Corresponding author for this work

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 Sept 6 → 2015 Sept 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/Territory	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

Cite this

Chien, C. H., Hsu, C. C., 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). Article 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 ; Wang, Wei Yen et al.
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, CC , Wang, WY & 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, 2015/09/06. https://doi.org/10.1109/ICCE-Berlin.2015.7391305

Chien CH, Hsu CC , Wang WY , 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). doi: 10.1109/ICCE-Berlin.2015.7391305

Chien, Chiang Heng ; Hsu, Chen Chien ; Wang, Wei Yen et al. / 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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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.",

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

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 5th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2015 ; Conference date: 06-09-2015 Through 09-09-2015",

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AU - Kao, Wen Chung

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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.

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KW - Mobile Robot

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KW - Premature Convergence

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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

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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

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Keywords

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