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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Fast Monte Carlo Localization for Mobile Robot
verfasst von : Liang Chen, Peixin Sun, Guohua Zhang, Jie Niu, Xiaodong Zhang
Erschienen in: Advanced Research on Electronic Commerce, Web Application, and Communication
Verlag: Springer Berlin Heidelberg
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For the issue of increased computational complexity to improve the positioning accuracy of robots leaving in the mobile robot localization method, this paper propose a new Monte Carlo localization algorithm. This method combinated the traditional particle filter algorithm with unscented Kalman filter, markovian Monte Carlo and reduced complexities level through dynamically updating the number of particles in particle collection and ensuring the accuracy of mobile robot localization. Simulation results show that the algorithm can not only inhibit the particle degradation and improve the positioning accuracy of the robot, but also in terms of computational complexity has increased significantly.