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Mobile robot localization based on particle filter
Luo FB(罗俸兵); Du, Bianjing; Fan Z(范振)
作者部门其他
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
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码3089-3093
收录类别EI ; CPCI(ISTP)
EI收录号20152600977561
WOS记录号WOS:000393066203019
产权排序2
ISBN号978-1-4799-5825-2
关键词Mobile Robot Self-localization Particle Filter Monte Carlo Method
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.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/16925
专题其他
作者单位1.SIASUN Robot and Automation Co., Ltd., Jinhui Street No. 16, Hunnan District, Shenyang City, Liaoning Province, China
2.Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, No.114 Nanta Street, Shenhe District, Shenyang City, Liaoning Province, China
推荐引用方式
GB/T 7714
Luo FB,Du, Bianjing,Fan Z. Mobile robot localization based on particle filter[C]. Piscataway, NJ, USA:IEEE,2014:3089-3093.
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