TY - GEN
T1 - Monte Carlo Localization Incorporating an Error Correction Vector for Mobile Robots
AU - Kung, Yen Cheng
AU - Hsu, Chen Chien
AU - Wang, Wei Yen
N1 - Publisher Copyright:
© 2015 The authors and IOS Press. All rights reserved.
PY - 2015
Y1 - 2015
N2 - Nowadays, Monte Carlo Localization (MCL) algorithm is the most commonly used algorithm for a mobile robot to localize itself automatically, and has shown good performances because of its ability to model arbitrary distributions and robustness towards noisy input data. This paper presents an improved Monte Carlo Localization algorithm incorporating an error correction vector, which is calculated from the sensor's error information, and therefore, can achieve better performances in both accuracy and efficiency. Through practical application of the method which incorporates the error correction vector when conducting the program's prediction stage, the particles move closer to the real robot's position. Experimental results show that the proposed algorithm can increase the probability for particles to better estimate the robot's position.
AB - Nowadays, Monte Carlo Localization (MCL) algorithm is the most commonly used algorithm for a mobile robot to localize itself automatically, and has shown good performances because of its ability to model arbitrary distributions and robustness towards noisy input data. This paper presents an improved Monte Carlo Localization algorithm incorporating an error correction vector, which is calculated from the sensor's error information, and therefore, can achieve better performances in both accuracy and efficiency. Through practical application of the method which incorporates the error correction vector when conducting the program's prediction stage, the particles move closer to the real robot's position. Experimental results show that the proposed algorithm can increase the probability for particles to better estimate the robot's position.
KW - Monte Carlo localization
KW - error correction vector
KW - particle filter
UR - http://www.scopus.com/inward/record.url?scp=84948659518&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84948659518&partnerID=8YFLogxK
U2 - 10.3233/978-1-61499-522-7-306
DO - 10.3233/978-1-61499-522-7-306
M3 - Conference contribution
AN - SCOPUS:84948659518
T3 - Frontiers in Artificial Intelligence and Applications
SP - 306
EP - 318
BT - New Trends on System Sciences and Engineering - Proceedings of ICSSE 2015
A2 - Fujita, Hamido
A2 - Su, Shun-Feng
PB - IOS Press BV
T2 - International Conference on System Science and Engineering, ICSSE 2015
Y2 - 6 July 2015 through 8 July 2015
ER -