Intelligent particle-filter based robot localization

Siamantas Georgios, Stouraitis Theodore, Tzes Anthony

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2011 19th Mediterranean Conference on Control and Automation, MED 2011
Pages333-338
Number of pages6
DOIs
StatePublished - Sep 8 2011
Event2011 19th Mediterranean Conference on Control and Automation, MED 2011 - Corfu, Greece
Duration: Jun 20 2011Jun 23 2011

Publication series

Name2011 19th Mediterranean Conference on Control and Automation, MED 2011

Other

Other2011 19th Mediterranean Conference on Control and Automation, MED 2011
CountryGreece
CityCorfu
Period6/20/116/23/11

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Georgios, S., Theodore, S., & Anthony, T. (2011). Intelligent particle-filter based robot localization. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011 (pp. 333-338). [5983221] (2011 19th Mediterranean Conference on Control and Automation, MED 2011). https://doi.org/10.1109/MED.2011.5983221