Title :
Localization of Mobile Robot using Particle Filter
Author :
Woo, Jeong ; Kim, Young-Joong ; Lee, Jeong-on ; Lim, Myo-Taeg
Author_Institution :
Dept. of Electr. Eng., Korea Univ., Seoul
Abstract :
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
Keywords :
importance sampling; mobile robots; particle filtering (numerical methods); path planning; active beacon system; mobile robot; regularized particle filter; sampling importance sampling; self-localization technique; ultrasonic sensor; Active filters; Filtering; Mobile robots; Noise measurement; Nonlinear dynamical systems; Particle filters; Robot sensing systems; Sensor systems; State estimation; Ultrasonic variables measurement; Mobile robot; localization; particle filter; ultrasonic sensor;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315151
