Differential evolution to enhance localization of mobile robots

Michal Lisowski, Zhun Fan, Ole Ravn

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    This paper focuses on the mobile robot localization problems: pose tracking, global localization and robot kidnap. Differential Evolution (DE) applied to extend Monte Carlo Localization (MCL) was investigated to better solve localization problem by increasing localization reliability and speed. In addition, a novel mechanism for effective robot kidnap detection was proposed. Experiments were performed using computer simulations based on the odometer data and laser range finder measurements collected in advance by a robot in real-life. Experimental results showed that integrating DE enables MCL to provide more accurate robot pose estimations in shorter time while using fewer particles.
    Original languageEnglish
    Title of host publicationIEEE International Fuzzy Systems Conference : FUZZ-IEEE
    Publication date2011
    ISBN (Print)9781424473151
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Fuzzy Systems - Grand Hyatt Taipei, Taipei, Taiwan, Province of China
    Duration: 27 Jun 201130 Jun 2011


    Conference2011 IEEE International Conference on Fuzzy Systems
    LocationGrand Hyatt Taipei
    Country/TerritoryTaiwan, Province of China
    Internet address


    • Differential Evolution
    • Mobile robot
    • Particle filter
    • Monte Carlo Localization


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