Service robot localization using improved particle filter

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

研究成果: Conference contribution

2 引用 (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.

元の言語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
出版物ステータスPublished - 2008
外部発表Yes
イベントIEEE International Conference on Automation and Logistics, ICAL 2008 - Qingdao
継続期間: 2008 9 12008 9 3

Other

OtherIEEE International Conference on Automation and Logistics, ICAL 2008
Qingdao
期間08/9/108/9/3

Fingerprint

Robots
State estimation
Mobile robots
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Systems Engineering

これを引用

Cen, G., Matsuhira, N., Hirokawa, J., Ogawa, H., & Hagiwara, I. (2008). Service robot localization using improved particle filter. : Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008 (pp. 2454-2459). [4636580] https://doi.org/10.1109/ICAL.2008.4636580

Service robot localization using improved particle filter. / Cen, Guanghui; Matsuhira, Nobuto; Hirokawa, Junko; Ogawa, Hideki; Hagiwara, Ichiro.

Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008. 2008. p. 2454-2459 4636580.

研究成果: Conference contribution

Cen, G, Matsuhira, N, Hirokawa, J, Ogawa, H & Hagiwara, I 2008, Service robot localization using improved particle filter. : Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008., 4636580, pp. 2454-2459, IEEE International Conference on Automation and Logistics, ICAL 2008, Qingdao, 08/9/1. https://doi.org/10.1109/ICAL.2008.4636580
Cen G, Matsuhira N, Hirokawa J, Ogawa H, Hagiwara I. Service robot localization using improved particle filter. : Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008. 2008. p. 2454-2459. 4636580 https://doi.org/10.1109/ICAL.2008.4636580
Cen, Guanghui ; Matsuhira, Nobuto ; Hirokawa, Junko ; Ogawa, Hideki ; Hagiwara, Ichiro. / Service robot localization using improved particle filter. Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008. 2008. pp. 2454-2459
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