Title :
Development of advanced particle filter for localization of mobile robot
Author :
Jung, Kwang-Min ; Sim, Kwee-Bo
Author_Institution :
Sch. of Electr. & Electron. Eng., Chung-Ang Univ., Seoul, South Korea
Abstract :
One of the critical components of localization is the robot´s ability to locate itself on a partially map. This becomes challenging when the robot experiences positioning error, does not have an external positioning device, nor the luxury of engineered landmarks placed in its free space. This paper presents a new method for localization. When the mobile robot works, The robot from within environment must presume location of oneself accurately. For this, The location recognition algorithm is required tracking location from start point and recovering lost location. In this paper, we propose location recognition algorithm using advanced particle filter for tracking location from start point and recovering lost location. As a result, it can increase robustness and accuracy of localization. The performance of the proposed algorithm was verified by experiments.
Keywords :
mobile robots; particle filtering (numerical methods); position control; advanced particle filter; location recognition algorithm; mobile robot localization; Acoustics; Gyroscopes; Mobile robots; Particle filters; Particle measurements; Robot sensing systems; localization; location recognition algorithm; mobile robot; particle filter;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1