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Title: Localization of Mobile Robots via an Enhanced Particle Filter
Authors: 國立臺灣師範大學電機工程學系
Chen-Chien Hsu
Ching-Chang Wong
Hung-Chih Teng
Nai-Jen Li
Cheng-Yao Ho
Issue Date: 6-May-2010
Abstract: A self-localization method entitled enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search (NM-EPF) for autonomous mobile robots is proposed in this paper. To evaluate the performance of the localization scheme, an omnidirectional vision device is mounted on top of the robot to analyze the environment of a soccer robot game field. Through detecting the white boundary lines relative to the robot in the game field, weighting for each particle representing the robot's pose can be updated via the proposed NM-EPF algorithm. Because of the efficiency of the NM-EPF, particles converge to the correct location of the robot in a responsive way while tackling uncertainties. Simulation results have shown that efficiency in robot self-localization can be significantly improved while maintaining a relatively smaller mean error in comparison to that via conventional particle filter.
Other Identifiers: ntnulib_tp_E0607_02_031
Appears in Collections:教師著作

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