{"title":"基于二维激光传感器的移动机器人粒子群定位","authors":"J. Carvalho, P. Farias, E. Souza, E. F. S. Filho","doi":"10.1109/BRACIS.2019.00057","DOIUrl":null,"url":null,"abstract":"Mobile robot localization is a complex task, specially in unstructured indoor environments, due to noise and wrong data association from sensors. The localization procedure is even harder when the vehicle has low confidence about its last pose estimate, situation that requires a Global Localization procedure. In this work, a Global Localization algorithm based on Particle Swarm Optimization (PSO) is integrated with a Pose Tracking algorithm, the Perfect Match, to obtain a robust localization technique. Results show that this approach can solve the problem of Global Localization with good performance.","PeriodicalId":335206,"journal":{"name":"Brazilian Conference on Intelligent Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Particle Swarm Localization for Mobile Robots Using a 2D Laser Sensor\",\"authors\":\"J. Carvalho, P. Farias, E. Souza, E. F. S. Filho\",\"doi\":\"10.1109/BRACIS.2019.00057\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Mobile robot localization is a complex task, specially in unstructured indoor environments, due to noise and wrong data association from sensors. The localization procedure is even harder when the vehicle has low confidence about its last pose estimate, situation that requires a Global Localization procedure. In this work, a Global Localization algorithm based on Particle Swarm Optimization (PSO) is integrated with a Pose Tracking algorithm, the Perfect Match, to obtain a robust localization technique. Results show that this approach can solve the problem of Global Localization with good performance.\",\"PeriodicalId\":335206,\"journal\":{\"name\":\"Brazilian Conference on Intelligent Systems\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Brazilian Conference on Intelligent Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/BRACIS.2019.00057\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Brazilian Conference on Intelligent Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/BRACIS.2019.00057","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Particle Swarm Localization for Mobile Robots Using a 2D Laser Sensor
Mobile robot localization is a complex task, specially in unstructured indoor environments, due to noise and wrong data association from sensors. The localization procedure is even harder when the vehicle has low confidence about its last pose estimate, situation that requires a Global Localization procedure. In this work, a Global Localization algorithm based on Particle Swarm Optimization (PSO) is integrated with a Pose Tracking algorithm, the Perfect Match, to obtain a robust localization technique. Results show that this approach can solve the problem of Global Localization with good performance.
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