TY - GEN
T1 - Intelligent particle-filter based robot localization
AU - Georgios, Siamantas
AU - Theodore, Stouraitis
AU - Anthony, Tzes
PY - 2011
Y1 - 2011
N2 - The problem of the localization of a robot moving inside a closed region is considered in this paper. The localization approach used is based on the Sequential Monte Carlo Methods also known as Particle Filters. In particular we present some statistical based criteria and a logic algorithm based on those criteria to evaluate when the estimation of the position of the robot inside the region stops performing as designed due to unanticipated objects inside the region. Also presented is a fuzzy logic approach based on the same algorithm which gives a continuous localization confidence output. Based on this output a sensor model localization parameter fine tuning is presented and tested in various simulation studies.
AB - The problem of the localization of a robot moving inside a closed region is considered in this paper. The localization approach used is based on the Sequential Monte Carlo Methods also known as Particle Filters. In particular we present some statistical based criteria and a logic algorithm based on those criteria to evaluate when the estimation of the position of the robot inside the region stops performing as designed due to unanticipated objects inside the region. Also presented is a fuzzy logic approach based on the same algorithm which gives a continuous localization confidence output. Based on this output a sensor model localization parameter fine tuning is presented and tested in various simulation studies.
UR - http://www.scopus.com/inward/record.url?scp=80052359305&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80052359305&partnerID=8YFLogxK
U2 - 10.1109/MED.2011.5983221
DO - 10.1109/MED.2011.5983221
M3 - Conference contribution
AN - SCOPUS:80052359305
SN - 9781457701252
T3 - 2011 19th Mediterranean Conference on Control and Automation, MED 2011
SP - 333
EP - 338
BT - 2011 19th Mediterranean Conference on Control and Automation, MED 2011
T2 - 2011 19th Mediterranean Conference on Control and Automation, MED 2011
Y2 - 20 June 2011 through 23 June 2011
ER -