A Sonar Data Based Particle Filtering Localization Method for Mobile Robot

被引：0

作者：

Liu, Xian'en ^{[1
]}

Ma, Bojun ^{[2
]}

Qi, Ningning ^{[1
]}

Zhang, Zhenxin ^{[1
]}

Ren, Dongchun ^{[1
]}

机构：

[1] Nankai Univ, Dept Automat, Tianjin 300071, Peoples R China

[2] Nankai Univ, Inst Robot & Automat Informat Syst, Tianjin 300071, Peoples R China

来源：

2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年

关键词：

Bayesian formula; particle filter; localization for mobile robot; sonar sensor;

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：

A global localization method is proposed for mobile robot. This algorithm is based on Bayesian filtering theory and MarKov process. A set of particles is utilized to describe the distribution of robot localization. The set is updated according to the map information and sonar data step by step. In this way the particles converge to the true localization rapidly. In this paper, the map is recorded as set of sections of line, which takes little storage space and benefit calculation. Simulation results show the effectiveness of this algorithm.

引用

页码：3920 / +

页数：2

共 6 条

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