Localization of Mobile Robot using Particle Filter

Author

Woo, Jeong ; Kim, Young-Joong ; Lee, Jeong-on ; Lim, Myo-Taeg

Author_Institution

Dept. of Electr. Eng., Korea Univ., Seoul

fYear

2006

Firstpage

3031

Lastpage

3034

Abstract

Localization is an important topic in mobile robots. It is essential that a mobile robot plans movement and reaches goals. In this paper, we described self-localization technique for mobile robot based on particle filtering in active beacon system. The basic method is to estimate value of position and heading of mobile robot using ultrasonic sensor as particle filter is used to eliminate process and measurement noise. Several variants of the particle filter such as SIR and RPF are introduced. These are discussed and compared with EKF for localization of mobile robot

Keywords

importance sampling; mobile robots; particle filtering (numerical methods); path planning; active beacon system; mobile robot; regularized particle filter; sampling importance sampling; self-localization technique; ultrasonic sensor; Active filters; Filtering; Mobile robots; Noise measurement; Nonlinear dynamical systems; Particle filters; Robot sensing systems; Sensor systems; State estimation; Ultrasonic variables measurement; Mobile robot; localization; particle filter; ultrasonic sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315151

Filename

4108160