Localization of mobile robots via an enhanced particle filter incorporating tournament selection and nelder-mead simplex search

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: 雜誌貢獻期刊論文同行評審

11 引文 斯高帕斯(Scopus)

摘要

A localization method based on an enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search (NM-EPF) for autonomous mobile robots navigating in a soccer robot game field is proposed in this paper. To analyze the environment, an omnidirectional vision device is mounted on top of the robot. 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 iteratively updated via the proposed NM-EPF algorithm. Thanks to the hybridization effect of the NM-EPF, particles converge to the actual position of the robot in a responsive way while tackling uncertainties. Simulation and experiment results have confirmed that the proposed NM-EPF has better localization performance in the soccer robot game field in comparison to the conventional particle filter.

原文英語
頁(從 - 到)3725-3737
頁數13
期刊International Journal of Innovative Computing, Information and Control
7
發行號7 A
出版狀態已發佈 - 2011 七月

ASJC Scopus subject areas

  • 軟體
  • 理論電腦科學
  • 資訊系統
  • 計算機理論與數學

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