Fast Monte Carlo Localization for Mobile Robot

被引：0
|
作者：
Chen, Liang [1 ]
Sun, Peixin [2 ]
Zhang, Guohua [2 ]
Niu, Jie [2 ]
Zhang, Xiaodong [1 ]
机构：
[1] Shenyang Ligong Univ, Sch Informat Sci & Engn, Shenyang 110159, Peoples R China
[2] Shenyang Artillery Acad, Shenyang 110162, Peoples R China
来源：
ADVANCED RESEARCH ON ELECTRONIC COMMERCE, WEB APPLICATION, AND COMMUNICATION, PT 2 | 2011年 / 144卷
关键词：
Robot localization; Monte Carlo algorithm; Dynamic update; Particle degradation; Computational complexity;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For the issue of increased computational complexity to improve the positioning accuracy of robots leaving in the mobile robot localization method, this paper propose a new Monte Carlo localization algorithm. This method combinated the traditional particle filter algorithm with unscented Kalman filter, markovian Monte Carlo and reduced complexities level through dynamically updating the number of particles in particle collection and ensuring the accuracy of mobile robot localization. Simulation results show that the algorithm can not only inhibit the particle degradation and improve the positioning accuracy of the robot, but also in terms of computational complexity has increased significantly.
引用
收藏
页码：207 / +
页数：2
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