Mobile robot localization based on particle filter
文献类型：会议论文
| 作者 | Luo FB(罗俸兵); Du, Bianjing; Fan Z(范振) |
| 出版日期 | 2014 |
| 会议名称 | 11th World Congress on Intelligent Control and Automation (WCICA 2014) |
| 会议日期 | June 29 - July 4, 2014 |
| 会议地点 | Shenyang, China |
| 关键词 | mobile robot self-localization particle filter Monte Carlo method |
| 页码 | 3089-3093 |
| 中文摘要 | This paper proposes a self-localization algorithm for mobile robot based on particle filter algorithm. It uses the Monte Carlo method to solve the integral operation of the Bayesian estimation. In order to make the self-localization algorithm real-time, the sequence of importance sampling (SIS) method is introduced. Considering the actual environment, the grid map modal is created. In the inspection process of the robot, Environment map is updated by the Monte Carlo algorithm. This paper designs probability motion modal, detection modal and observation modal of robot, and make a simulation test. The results show that when the robot is on patrol, it can know its position and update the environment map in real time. © 2014 IEEE. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议录 | Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-5825-2 |
| 源URL | [http://ir.sia.cn/handle/173321/16925]  |
| 专题 | 沈阳自动化研究所_其他 |
| 推荐引用方式 GB/T 7714 | Luo FB,Du, Bianjing,Fan Z. Mobile robot localization based on particle filter[C]. 见:11th World Congress on Intelligent Control and Automation (WCICA 2014). Shenyang, China. June 29 - July 4, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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