Localization of Mobile Robots via an Enhanced Particle Filter Incorporating Tournament Selection and Nelder-Mead Simplex Search

Abstract

A localization method based on an enhanced particle lter incorporating tour- nament selection and Nelder-Mead simplex search (NM-EPF) for autonomous mobile robots navigating in a soccer robot game eld is proposed in this paper. To analyze the environment, an omnidirectional vision device is mounted on top of the robot. Through detecting the white boundary lines relative to the robot in the game eld, weighting for each particle representing the robot's pose can be iteratively updated via the proposed NM-EPF algorithm. Thanks to the hybridization effect of the NM-EPF, particles con- verge to the actual position of the robot in a responsive way while tackling uncertainties. Simulation and experiment results have con rmed that the proposed NM-EPF has better localization performance in the soccer robot game eld in comparison to the conventional particle lter