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

Fingerprint

Initialization
Reverse
Particle Swarm
Model
Local Solution
Strengthening
Jump
Sensing
Sensor
Sensors
Simulation

ASJC Scopus subject areas

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

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

Robust Monte Carlo localization based on vector model. / Jhong, Bing Gang; Chen, Mei Yung.

2016 IEEE International Conference on System Science and Engineering, ICSSE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 7551616 (2016 IEEE International Conference on System Science and Engineering, ICSSE 2016).

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

Jhong, BG & Chen, MY 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., 2016 IEEE International Conference on System Science and Engineering, ICSSE 2016, Puli, Taiwan, 16/7/7. https://doi.org/10.1109/ICSSE.2016.7551616
Jhong BG, Chen MY. Robust Monte Carlo localization based on vector model. In 2016 IEEE International Conference on System Science and Engineering, ICSSE 2016. Institute of Electrical and Electronics Engineers Inc. 2016. 7551616. (2016 IEEE International Conference on System Science and Engineering, ICSSE 2016). https://doi.org/10.1109/ICSSE.2016.7551616
Jhong, Bing Gang ; Chen, Mei Yung. / Robust Monte Carlo localization based on vector model. 2016 IEEE International Conference on System Science and Engineering, ICSSE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. (2016 IEEE International Conference on System Science and Engineering, ICSSE 2016).
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