An improved Particle Filter for WSN-aided robot localization

Author

Zhang, Hui ; Li, Yong ; Qu, Ying ; Hai, Dan ; Zhou, Huaping ; Wang, Dachuan

Author_Institution

Sch. of Mechatron. & Autom., Nat. Univ. of Defense Technol., Changsha, China

fYear

2009

Firstpage

2047

Lastpage

2051

Abstract

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 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.

Keywords

mobile robots; particle filtering (numerical methods); sensor fusion; wireless sensor networks; USARSim; WSN-aided robot localization; convergence speed; information fusion; node reliability; particle filter; Automation; Collaboration; Computational modeling; Convergence; Mechatronics; Mobile robots; Particle filters; Robot localization; Robot sensing systems; Wireless sensor networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Conference_Location

Guilin

Print_ISBN

978-1-4244-4774-9

Electronic_ISBN

978-1-4244-4775-6

Type

conf

DOI

10.1109/ROBIO.2009.5420523

Filename

5420523