@inproceedings{91a16ce51bfb435ebe17af3ee1b1be48,
title = "New solutions to the premature convergence problem in Monte Carlo localization",
abstract = "In this paper, a new solution towards the premature convergence problem in Monte Carlo Localization for global localization under highly symmetrical environments is proposed. The algorithm employs a {"}standard direction{"} to allow particles to move so as to rearrange weights, providing better exploration as a result. Therefore, there are higher opportunities for particles to converge to the real robot pose and prevent premature convergence accordingly. Experiments have verified the proposed algorithm to be reliable and robust by offering notable improvements in the global localization performance.",
keywords = "Global Localization, Monte Carlo Localization, Premature Convergence",
author = "Chien, {Chiang Heng} and Hsu, {Chen Chien} and Wang, {Wei Yen} and Kao, {Wen Chung} and Chien, {Chiang Ju}",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 6th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2016 ; Conference date: 05-09-2016 Through 07-09-2016",
year = "2016",
month = oct,
day = "25",
doi = "10.1109/ICCE-Berlin.2016.7684723",
language = "English",
series = "IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin",
publisher = "IEEE Computer Society",
pages = "83--84",
editor = "Tom Wilson and Wolfgang Endemann and Cycon, {Hans L.} and Dietmar Hepper and Flores-Arias, {Jose Maria}",
booktitle = "2016 IEEE 6th International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2016",
}