Title :
Experimental Comparison of Extended Kalman and Particle Filter in Mobile Robotic Localization
Author :
Angel, Julián M. ; De la Rosa, Fernando
Author_Institution :
Comput. Sci. & Syst. Dept., Univ. de los Andes, Bogota, Colombia
Abstract :
This paper presents an implementation and comparison between odometry and probabilistic algorithms for the mobile robot localization problem in indoor environments.The hardware and software tools used for the experiments are briefly described. Also, a software architecture is proposed to make easier the development of computer applications including the tested algorithms which are used to get the results to compare.
Keywords :
Kalman filters; distance measurement; mobile robots; particle filtering (numerical methods); probability; software architecture; extended Kalman; indoor environment; mobile robot localization problem; mobile robotic localization; odometry; particle filter; probabilistic algorithm; software architecture; Automotive engineering; Computer science; Electronic mail; Hardware; Indoor environments; Kalman filters; Mobile computing; Mobile robots; Particle filters; Software tools; Bayes Filter; Kalman Filter; Localization; Mobile Robotics; Odometry; Particle Filter;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2009. CERMA '09.
Conference_Location :
Cuernavaca, Morelos
Print_ISBN :
978-0-7695-3799-3
DOI :
10.1109/CERMA.2009.32
