Cost-effective Active Localization Technique for Mobile Robots

摘要：

Mobile robot localization is the problem of determining the position of a mobile robot from sensor data. Active localization provides setting the robots motion direction and determining the pointing direction of the sensors during localization so as to most ef.ciently localize the robot. This paper proposes an active localization approach that employs Monte Carlo Localization, which is based on particle filters. The technique offers two main advantages. 1) The framework applies a different way of initializing the particles that helps to reduce some steps of localization, and 2) a new resampling scheme is used to reduce the cost of localization and solve the kidnapped robot problem. Experimental results show that the probability of robot successfully localize itself is considerably high, i.e. robot can recover from failure and localize itself based on new sensor data and reduction of cost is noticeable.

作者: Sepideh Seifzadeh Dan Wu Yuefeng Wang

作者单位: School of Computer Science,University of Windsor,Ontario,N9B 3P4,Canada

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: 539-543

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）