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.
|主出版物標題||Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013|
|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 13 → 2013 十月 16
|其他||2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013|
|期間||2013/10/13 → 2013/10/16|
ASJC Scopus subject areas