Localization of mobile robots via an enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 期刊論文 > Item 987654321/61032

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題名:	Localization of mobile robots via an enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search
作者:	Hsu, Chen-Chien;Wong, Ching-Chang;Teng, Hung-Chih;Li, Nai-Jen;Ho, Cheng-Yao
貢獻者:	淡江大學電機工程學系
關鍵詞:	Computational Theory and Mathematics;Information Systems;Software;Theoretical Computer Science
日期:	2011-07
上傳時間:	2011-10-15 01:16:42 (UTC+8)
出版者:	Kumamoto: I C I C International
摘要:	A localization method based on an enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search (NM-EPF) for autonomous mobile robots navigating in a soccer robot game field 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 field, 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 converge to the actual position of the robot in a responsive way while tackling uncertainties. Simulation and experiment results have confirmed that the proposed NM-EPF has better localization performance in the soccer robot game field in comparison to the conventional particle filter.
關聯:	International Journal of Innovative Computing, Information and Control 7(7A), pp.3725–3737
顯示於類別:	[電機工程學系暨研究所] 期刊論文

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