Service robot localization using improved particle filter

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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Recently, Particle filter becomes the most popular approach in mobile robot localization and has been applied with great success to a variety of state estimation problems. In this paper, the particle filter is applied in position tracking and global localization. Moreover, the posterior distribution of robot pose in global localization is usually multimodal due to the symmetry of the environment and ambiguous detected features. Considering these characteristics, we proposed the cluster particle filter to improve the global localization robustness and accuracy. Experiment results show the effectiveness and robustness of our approach in our service robot ApriAlpha™ Platform.

本文言語English
ホスト出版物のタイトルProceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
ページ2454-2459
ページ数6
DOI
出版ステータスPublished - 2008 11月 26
外部発表はい
イベントIEEE International Conference on Automation and Logistics, ICAL 2008 - Qingdao, China
継続期間: 2008 9月 12008 9月 3

出版物シリーズ

名前Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008

Conference

ConferenceIEEE International Conference on Automation and Logistics, ICAL 2008
国/地域China
CityQingdao
Period08/9/108/9/3

ASJC Scopus subject areas

  • 人工知能
  • ハードウェアとアーキテクチャ
  • 制御およびシステム工学

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