Title :
An improved Particle Filter for WSN-aided robot localization
Author :
Zhang, Hui ; Li, Yong ; Qu, Ying ; Hai, Dan ; Zhou, Huaping ; Wang, Dachuan
Author_Institution :
Sch. of Mechatron. & Autom., Nat. Univ. of Defense Technol., Changsha, China
Abstract :
An improved particle filter algorithm is proposed for WSN-aided robot localization. This algorithm introduces node reliability and proposes its expression to realize information fusion among nodes. After having computed node reliability, sensor nodes with high localization, and take effect on updating particles according to their reliability. Furthermore, a novel simulation system for WSN-robot based on USARSim is developed, which is used to test our algorithm in this paper. The simulation result shows the good performance of the proposed algorithm in precision of robot localization and convergence speed of particle filter, and the conformity of the simulation system to the requirement of WSN-robot system research.
Keywords :
mobile robots; particle filtering (numerical methods); sensor fusion; wireless sensor networks; USARSim; WSN-aided robot localization; convergence speed; information fusion; node reliability; particle filter; Automation; Collaboration; Computational modeling; Convergence; Mechatronics; Mobile robots; Particle filters; Robot localization; Robot sensing systems; Wireless sensor networks;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420523
