Title :
C38. Appraisal of different particle filter resampling schemes effect in robot localization
Author :
Mahmoud, Imbaby I. ; Tawab, A.A.E. ; Salama, May ; El-Halym, H.A.A.
Abstract :
This paper considers the effect of the Resampling schemes in the behavior of Particle Filter (PF) based robot localizer. The investigated schemes are Multinomial Resampling, Residual Resampling, Residual Systematic Resampling, Stratified Resampling and Systematic Resampling. An algorithm is built in Matlab environment to host these schemes. The performances are evaluated in terms of computational complexity and error from ground truth and the results are reported. The results showed that the localization plan which adopts the Systematic or Stratified Resampling scheme achieves higher accuracy localization while decreasing consumed computational time. However, the difference is not significant. Moreover, a particle excitation strategy is proposed. This strategy achieved significant improvement in the behavior of PF based robot localization.
Keywords :
SLAM (robots); computational complexity; mobile robots; particle filtering (numerical methods); signal sampling; Matlab environment; PF based robot localization; computational complexity; computational time; ground truth; multinomial resampling; particle excitation strategy; particle filter resampling schems effect; residual systematic resampling; stratified resampling; Arrays; Particle filters; Robot localization; Strontium; Systematics; Particle Filter; Resampling; Robot Localization;
Conference_Titel :
Radio Science Conference (NRSC), 2012 29th National
Conference_Location :
Cairo
Print_ISBN :
978-1-4673-1884-6
DOI :
10.1109/NRSC.2012.6208556