Title :
A sonar data based particle filtering localization method for mobile robot
Author :
En Liu, Xian ; Ma, Bojun ; Qi, Ningning ; Zhang, Zhenxin ; Ren, Dongchun
Author_Institution :
Dept. of Autom., Nankai Univ., Tianjin
Abstract :
A global localization method is proposed for mobile robot. This algorithm is based on Bayesian filtering theory and Markov process. A set of particles is utilized to describe the distribution of robot localization. The set is updated according to the map information and sonar data step by step. In this way the particles converge to the true localization rapidly. In this paper, the map is recorded as set of sections of line, which takes little storage space and benefit calculation. Simulation results show the effectiveness of this algorithm.
Keywords :
Bayes methods; Markov processes; mobile robots; particle filtering (numerical methods); position control; sonar; Bayesian filtering theory; Markov process; global localization method; mobile robot; particle filtering localization method; sonar data; Bayesian methods; Filtering algorithms; Information filtering; Information filters; Information systems; Intelligent control; Intelligent robots; Mobile robots; Robotics and automation; Sonar; Bayesian formula; localization for mobile robot; particle filter; sonar sensor;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593555
