Improved Adaptive Particle Filters for Mobile Robot Indoor Localization Using Laser Range Finder

Author

Yan, Fei ; Wang, Wei ; Wang, Sheng

Author_Institution

Res. Center of Inf. & Control, Dalian Univ. of Technol.

Volume

2

fYear

0

fDate

0-0 0

Firstpage

9188

Lastpage

9192

Abstract

Localization is a foundational task for mobile robot navigation in an indoor environment. In order to accommodate more ordinary indoor environment, improved adaptive particle filters is proposed in this paper, which can adjust the number of samples adaptively according to the status of sample convergence. We distribute random samples based on the analysis result of the sensor reading in the initial state and choose the observed features from geometric feature-based prior map instead of the bins in the grid map. Experiments result implemented in real mobile robot platform and further localization result analysis show the validity and practicability of this improved method

Keywords

laser ranging; mobile robots; motion control; navigation; path planning; position control; robot vision; adaptive particle filters; geometric feature-based prior map; laser range finder; mobile robot indoor localization; mobile robot navigation; Convergence; Error correction; Indoor environments; Intelligent robots; Mobile robots; Navigation; Particle filters; Robot motion; Robot sensing systems; Sampling methods; Global localization; adaptive particle filters; autonomous mobile robot; sequential important Sampling;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713778

Filename

1713778