An Improved Particle Filter for WSN-aided Robot Localization

摘要：

An improved Particle Filter algorithm is proposed for WSN-aided robot localization. This algorithm introduces node reliability and proposes its expression to realize information fusion among nodes. After having computed node reliability, sensor nodes with high reliability are selected to aid robot localization, and take effect on updating particles according to their reliability. Furthermore, a novel simulation system for WSN-Robot based on USARSim is developed, which is used to test our algorithm in this paper. The simulation result shows the good performance of the proposed algorithm in precision of robot localization and convergence speed of Particle filter, and the conformity of the simulation system to the requirement of WSN-robot system research.

作者: Hui Zhang Yong Li Ying Qu Dan Hai Huaping Zhou Dachuan Wang

作者单位: School of Mechatronics and Automation,National University of Defense Technology,Changsha,Hunan 41007 National University of Defense Technology,Changsha,Hunan 410073 China mailbox of NO.5117,Beijing,100094,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2047-2051

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）