New resampling algorithm for particle filter localization for mobile robot with 3 ultrasonic sonar sensor

Author

Adiprawita, Widyawardana ; Ahmad, A.S. ; Sembiring, Jaka ; Trilaksono, B. Riyanto

Author_Institution

Sch. of Electr. Eng. & Inf., Bandung Inst. of Technol., Bandung, Indonesia

fYear

2011

fDate

17-19 July 2011

Firstpage

1

Lastpage

6

Abstract

This paper present a particle filter also known as Monte Carlo Localization (MCL) to solve the localization problem presented before. A new resampling mechanism is proposed. This new resampling mechanism enables the particle filter to converge quicker and more robust to kidnaping problem. This particle filter is simulated in MATLAB and also experimented physically using a simple autonomous mobile robot built with Lego Mindstorms NXT with 3 ultrasonic sonar and RWTH Mindstorms NXT Toolbox for MATLAB to connect the robot to MATLAB. The particle filter with the new resampling algorithm can perform very well in the physical experiments.

Keywords

Monte Carlo methods; mobile robots; particle filtering (numerical methods); position control; sampling methods; sensors; Lego Mindstorms NXT; Monte Carlo localization; RWTH Mindstorms NXT toolbox; mobile robot; particle filter localization; resampling algorithm; ultrasonic sonar sensor; Acoustics; MATLAB; Mobile robots; Particle filters; Probabilistic logic; Robot sensing systems; LEGO Mindstorm NXR; Monte Carlo Localization; RWTH toolbox; autonomous mobile robot; particle filter; resampling;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering and Informatics (ICEEI), 2011 International Conference on

Conference_Location

Bandung

ISSN

2155-6822

Print_ISBN

978-1-4577-0753-7

Type

conf

DOI

10.1109/ICEEI.2011.6021733

Filename

6021733