Improved Monte Carlo Localization with robust orientation estimation for mobile robots

研究成果: 書貢獻/報告類型會議論文篇章

6 引文 斯高帕斯(Scopus)

摘要

this paper proposes an improved Monte Carlo Localization algorithm with robust orientation estimation (IMCLROE) by incorporating an orientation estimate and weight calculation mechanism to determine an optimal orientation for particles and a tournament selection to reduce the number of particles for position tracking. Based on previously established sensory information, the proposed IMCLROE can improve the computational efficiency. Localization accuracy and localization failure rate are also significantly improved during position tracking while maintaining a minimal population of particles. Experimental results have confirmed the effectiveness of the proposed approach.

原文英語
主出版物標題Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
頁面3651-3656
頁數6
DOIs
出版狀態已發佈 - 2013 十二月 1
事件2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, 英国
持續時間: 2013 十月 132013 十月 16

其他

其他2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
國家/地區英国
城市Manchester
期間2013/10/132013/10/16

ASJC Scopus subject areas

  • 人機介面

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