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题名: Mobile robot localization based on particle filter
作者: 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: 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
出版日期: 2014
页码: 3089-3093
收录类别: EI
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
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/16925
Appears in Collections:其他_会议论文

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