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 language | English |
|---|---|
| Title of host publication | IEEE International Fuzzy Systems Conference : FUZZ-IEEE |
| Publisher | IEEE |
| Publication date | 2011 |
| Pages | 241-247 |
| ISBN (Print) | 9781424473151 |
| DOIs | |
| Publication status | Published - 2011 |
| Event | 2011 IEEE International Conference on Fuzzy Systems - Grand Hyatt Taipei, Taipei, Taiwan, Province of China Duration: 27 Jun 2011 → 30 Jun 2011 https://ieeexplore.ieee.org/xpl/conhome/5976945/proceeding |
Conference
| Conference | 2011 IEEE International Conference on Fuzzy Systems |
|---|---|
| Location | Grand Hyatt Taipei |
| Country/Territory | Taiwan, Province of China |
| City | Taipei |
| Period | 27/06/2011 → 30/06/2011 |
| Internet address |
Keywords
- Differential Evolution
- Mobile robot
- Particle filter
- Monte Carlo Localization