Robust Monte Carlo localization based on vector model

Bing Gang Jhong, Mei Yung Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposed an enhanced Monte Carlo localization algorithm, which is more effective, stable and robust than traditional localization algorithm by using many strengthening mechanisms, such as vector model, re-initialization and reverse convergence. The vector model redefines the pattern of environment map, so that the localization result is not limited by the resolution of map. Re-initialization gives second chance when the algorithm is missing the right location and can't jump out the local solution. Reverse convergence, the most important in this paper, can let the algorithm spread particle swarm moderately. It is simple but very useful, especially for the case within noise or sensing distance limitations in the sensors. The simulation results also show the excellent performance of proposed algorithm.

Original languageEnglish
Title of host publication2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781467389662
DOIs
Publication statusPublished - 2016 Aug 24
Event2016 IEEE International Conference on System Science and Engineering, ICSSE 2016 - Puli, Taiwan
Duration: 2016 Jul 72016 Jul 9

Publication series

Name2016 IEEE International Conference on System Science and Engineering, ICSSE 2016

Other

Other2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
CountryTaiwan
CityPuli
Period16/7/716/7/9

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Artificial Intelligence
  • Control and Optimization
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Robust Monte Carlo localization based on vector model'. Together they form a unique fingerprint.

  • Cite this

    Jhong, B. G., & Chen, M. Y. (2016). Robust Monte Carlo localization based on vector model. In 2016 IEEE International Conference on System Science and Engineering, ICSSE 2016 [7551616] (2016 IEEE International Conference on System Science and Engineering, ICSSE 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSSE.2016.7551616