Differential evolution to enhance localization of mobile robots

Michal Lisowski, Zhun Fan, Ole Ravn

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Abstract

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
PublisherIEEE
Publication date2011
Pages241-247
ISBN (Print)9781424473151
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Fuzzy Systems - Taipei, Taiwan
Duration: 1 Jan 2011 → …

Conference

Conference2011 IEEE International Conference on Fuzzy Systems
CityTaipei, Taiwan
Period01/01/2011 → …

Keywords

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

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