DocumentCode
1967737
Title
Research on localization method of mine rescue robot
Author
Guo Tongying ; Du Zhenjun ; Xu Fang ; Wang Haichen
Author_Institution
Shenyang Jianzhu Univ., Shenyang, China
Volume
2
fYear
2010
fDate
10-11 July 2010
Firstpage
503
Lastpage
506
Abstract
In the narrow mineral well tunnel, it is very important to localize for rescuing. Because Markov localization algorithm need a lot of memory space and calculation, and Kalman filter localization algorithm can not localize for robot again after localization invalidation, based on analyzing the characteristic of Monte Carlo, combining the demand of robot localization in the complex environment, the localization algorithm of mine rescue robot based on Monte Carlo was proposed. The research results show the localization precision based on Monte Carlo algorithm is better than Markov algorithm.
Keywords
Markov processes; Monte Carlo methods; mobile robots; path planning; Kalman filter localization algorithm; Markov localization algorithm; Monte Carlo characteristic; mine rescue robot; Markov processes; Navigation; Robot sensing systems; Markov localization; Mine rescue robot; Monte Carlo localization;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial and Information Systems (IIS), 2010 2nd International Conference on
Conference_Location
Dalian
Print_ISBN
978-1-4244-7860-6
Type
conf
DOI
10.1109/INDUSIS.2010.5565764
Filename
5565764
Link To Document