New solutions to the premature convergence problem in Monte Carlo localization

Chiang Heng Chien, Chen Chien Hsu, Wei Yen Wang, Wen-Chung Kao, Chiang Ju Chien

研究成果: 書貢獻/報告類型會議論文篇章

摘要

In this paper, a new solution towards the premature convergence problem in Monte Carlo Localization for global localization under highly symmetrical environments is proposed. The algorithm employs a "standard direction" to allow particles to move so as to rearrange weights, providing better exploration as a result. Therefore, there are higher opportunities for particles to converge to the real robot pose and prevent premature convergence accordingly. Experiments have verified the proposed algorithm to be reliable and robust by offering notable improvements in the global localization performance.

原文英語
主出版物標題2016 IEEE 6th International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2016
編輯Tom Wilson, Wolfgang Endemann, Hans L. Cycon, Dietmar Hepper, Jose Maria Flores-Arias
發行者IEEE Computer Society
頁面83-84
頁數2
ISBN(電子)9781509020966
DOIs
出版狀態已發佈 - 2016 十月 25
事件6th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2016 - Berlin, 德国
持續時間: 2016 九月 52016 九月 7

出版系列

名字IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
2016-October
ISSN(列印)2166-6814
ISSN(電子)2166-6822

其他

其他6th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2016
國家/地區德国
城市Berlin
期間2016/09/052016/09/07

ASJC Scopus subject areas

  • 電氣與電子工程
  • 工業與製造工程
  • 媒體技術

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