Effective application of Monte Carlo localization for service robot

Guanghui Cen, Hideichi Nakamoto, Nobuto Matsuhira, Ichiro Hagiwara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

At indoor environment, a service robot must know where it is at any time. Thus, reliable position estimation is a basic and key problem. Probabilistic robotics techniques have become one of the dominant paradigms for algorithm design in robotics. Recent work on Monte Carlo Localization with particle-based density representation becomes popular. In this paper we introduce the multi-sensor based Monte Carlo Localization (MCL) method which represents a robot's belief by a set of weighted samples and use the Laser Range Finder (LRF) sensor to measurement update. The experiment results illustrate the effectivity and robust of MCL application for our service robot.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1914-1919
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA
Duration: 2007 Oct 292007 Nov 2

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CitySan Diego, CA
Period07/10/2907/11/2

Fingerprint

Robots
Robotics
Range finders
Sensors
Monte Carlo methods
Lasers
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Cen, G., Nakamoto, H., Matsuhira, N., & Hagiwara, I. (2007). Effective application of Monte Carlo localization for service robot. In IEEE International Conference on Intelligent Robots and Systems (pp. 1914-1919). [4399409] https://doi.org/10.1109/IROS.2007.4399409

Effective application of Monte Carlo localization for service robot. / Cen, Guanghui; Nakamoto, Hideichi; Matsuhira, Nobuto; Hagiwara, Ichiro.

IEEE International Conference on Intelligent Robots and Systems. 2007. p. 1914-1919 4399409.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Cen, G, Nakamoto, H, Matsuhira, N & Hagiwara, I 2007, Effective application of Monte Carlo localization for service robot. in IEEE International Conference on Intelligent Robots and Systems., 4399409, pp. 1914-1919, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, 07/10/29. https://doi.org/10.1109/IROS.2007.4399409
Cen G, Nakamoto H, Matsuhira N, Hagiwara I. Effective application of Monte Carlo localization for service robot. In IEEE International Conference on Intelligent Robots and Systems. 2007. p. 1914-1919. 4399409 https://doi.org/10.1109/IROS.2007.4399409
Cen, Guanghui ; Nakamoto, Hideichi ; Matsuhira, Nobuto ; Hagiwara, Ichiro. / Effective application of Monte Carlo localization for service robot. IEEE International Conference on Intelligent Robots and Systems. 2007. pp. 1914-1919
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