Localization of mobile robot using particle fifter

被引：0
|
作者：
Woo, Jeong [1 ]
Kim, Young-Joong [1 ]
Lee, Jeong-on [1 ]
Lim, Myo-Taeg [1 ]
机构：
[1] Korea Univ, Dept Elect Engn, Seoul 136701, South Korea
来源：
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 | 2006年
关键词：
mobile robot; particle filter; ultrasonic sensor; localization;
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：
Localization is an important topic in mobile robots. It is essential that a mobile robot plans movement and reaches goals. In this paper, we described self-localization technique for mobile robot based on particle filtering in active beacon system. The basic method is to estimate value of position and heading of mobile robot using ultrasonic sensor as particle filter is used to eliminate process and measurement noise. Several variants of the particle filter such as SIR and RPF are introduced. These are discussed and compared with EKF for localization of mobile robot.
引用
收藏
页码：641 / +
页数：2
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