Title :
Position estimation of a mobile robot by PSO algorithm using a laser range finder
Author :
Lai, Li-Chun ; Lu, Chun-Feng ; Chang, Yen-Ching ; Lee, Tsong-Li
Author_Institution :
Dept. of Electr. Eng., Chung Chou Inst. of Technol., Changhua, Taiwan
Abstract :
This paper shows that a laser range finder and four artificial reflectors can be used to determine the position of a mobile robot in a three-dimensional (3D) working space provided that the four reflectors are not installed in the same plane. Moreover, a particle swarm optimization (PSO) algorithm is used to filter possible measuring errors. To show the feasibility and accuracy of the proposed method, experimental results are included for illustration.
Keywords :
laser ranging; mobile robots; particle swarm optimisation; position control; PSO algorithm; artificial reflector; filter possible measuring error; laser range finder; mobile robot; particle swarm optimization algorithm; position estimation; three dimensional working space; Accuracy; Acoustics; Conferences; Measurement uncertainty; Mobile robots; Sensors; laser range finder; mobile robot; particle swarm optimization (PSO);
Conference_Titel :
Consumer Electronics, Communications and Networks (CECNet), 2011 International Conference on
Conference_Location :
XianNing
Print_ISBN :
978-1-61284-458-9
DOI :
10.1109/CECNET.2011.5769103
