Mobile robot global localization using particle filters

Guanghui Cen, Nobuto Matsuhira, Junko Hirokawa, Hideki Ogawa, Ichiro Hagiwara

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

13 Citations (Scopus)

Abstract

Mobile robot global localization is the problem of determining a robot's pose in an environment by using sensor data, when the initial position is unknown. Particle filter based Probabilistic algorithm called Monte Carlo Localization is the current popular approach to solve the robot localization problem. 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. We also proposed likelihood based particle filter to solve the kidnapped problem. The experiment results illustrate the efficiency and robustness of particle filter approach for our mobile robot.

Original languageEnglish
Title of host publication2008 International Conference on Control, Automation and Systems, ICCAS 2008
Pages710-713
Number of pages4
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul
Duration: 2008 Oct 142008 Oct 17

Other

Other2008 International Conference on Control, Automation and Systems, ICCAS 2008
CitySeoul
Period08/10/1408/10/17

Fingerprint

Mobile robots
Robots
Sensors
Range finders
Monte Carlo methods
Lasers
Experiments

Keywords

  • Global localization
  • Likelihood
  • Mobile robot
  • Particle filter

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Cen, G., Matsuhira, N., Hirokawa, J., Ogawa, H., & Hagiwara, I. (2008). Mobile robot global localization using particle filters. In 2008 International Conference on Control, Automation and Systems, ICCAS 2008 (pp. 710-713). [4694593] https://doi.org/10.1109/ICCAS.2008.4694593

Mobile robot global localization using particle filters. / Cen, Guanghui; Matsuhira, Nobuto; Hirokawa, Junko; Ogawa, Hideki; Hagiwara, Ichiro.

2008 International Conference on Control, Automation and Systems, ICCAS 2008. 2008. p. 710-713 4694593.

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

Cen, G, Matsuhira, N, Hirokawa, J, Ogawa, H & Hagiwara, I 2008, Mobile robot global localization using particle filters. in 2008 International Conference on Control, Automation and Systems, ICCAS 2008., 4694593, pp. 710-713, 2008 International Conference on Control, Automation and Systems, ICCAS 2008, Seoul, 08/10/14. https://doi.org/10.1109/ICCAS.2008.4694593
Cen G, Matsuhira N, Hirokawa J, Ogawa H, Hagiwara I. Mobile robot global localization using particle filters. In 2008 International Conference on Control, Automation and Systems, ICCAS 2008. 2008. p. 710-713. 4694593 https://doi.org/10.1109/ICCAS.2008.4694593
Cen, Guanghui ; Matsuhira, Nobuto ; Hirokawa, Junko ; Ogawa, Hideki ; Hagiwara, Ichiro. / Mobile robot global localization using particle filters. 2008 International Conference on Control, Automation and Systems, ICCAS 2008. 2008. pp. 710-713
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