Localization of mobile robots via an enhanced particle filter

Chen Chien Hsu*, Ching Chang Wong, Hung Chih Teng, Nai Jen Li, Cheng Yao Ho

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

3 引文 斯高帕斯(Scopus)

摘要

A self-localization method entitled enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search (NM-EPF) for autonomous mobile robots is proposed in this paper. To evaluate the performance of the localization scheme, an omnidirectional vision device is mounted on top of the robot to analyze the environment of a soccer robot game field. Through detecting the white boundary lines relative to the robot in the game field, weighting for each particle representing the robot's pose can be updated via the proposed NM-EPF algorithm. Because of the efficiency of the NM-EPF, particles converge to the correct location of the robot in a responsive way while tackling uncertainties. Simulation results have shown that efficiency in robot self-localization can be significantly improved while maintaining a relatively smaller mean error in comparison to that via conventional particle filter.

原文英語
主出版物標題2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010 - Proceedings
頁面323-327
頁數5
DOIs
出版狀態已發佈 - 2010 十月 18
事件2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010 - Austin, TX, 美国
持續時間: 2010 五月 32010 五月 6

出版系列

名字2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010 - Proceedings

其他

其他2010 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2010
國家/地區美国
城市Austin, TX
期間2010/05/032010/05/06

ASJC Scopus subject areas

  • 儀器

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