Intelligent particle-filter based robot localization

Siamantas Georgios; Stouraitis Theodore; Tzes Anthony

doi:10.1109/MED.2011.5983221

Intelligent particle-filter based robot localization

Siamantas Georgios, Stouraitis Theodore, Tzes Anthony

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English (US)
Title of host publication	2011 19th Mediterranean Conference on Control and Automation, MED 2011
Pages	333-338
Number of pages	6
DOIs	https://doi.org/10.1109/MED.2011.5983221
State	Published - 2011
Event	2011 19th Mediterranean Conference on Control and Automation, MED 2011 - Corfu, Greece Duration: Jun 20 2011 → Jun 23 2011

Publication series

Name	2011 19th Mediterranean Conference on Control and Automation, MED 2011

Other

Other	2011 19th Mediterranean Conference on Control and Automation, MED 2011
Country/Territory	Greece
City	Corfu
Period	6/20/11 → 6/23/11

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/MED.2011.5983221

Cite this

Intelligent particle-filter based robot localization. / Georgios, Siamantas; Theodore, Stouraitis; Anthony, Tzes.
2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. p. 333-338 5983221 (2011 19th Mediterranean Conference on Control and Automation, MED 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Georgios, S, Theodore, S & Anthony, T 2011, Intelligent particle-filter based robot localization. in 2011 19th Mediterranean Conference on Control and Automation, MED 2011., 5983221, 2011 19th Mediterranean Conference on Control and Automation, MED 2011, pp. 333-338, 2011 19th Mediterranean Conference on Control and Automation, MED 2011, Corfu, Greece, 6/20/11. https://doi.org/10.1109/MED.2011.5983221

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Intelligent particle-filter based robot localization

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