Improved Monte Carlo Localization with Robust Orientation Estimation for Mobile Robots and Its Realization on Single-Board Computer
碩士 === 國立臺灣師範大學 === 電機工程研究所 === 102 === This paper proposes an improved Monte Carlo Localization algorithm with robust orientation estimation (IMCLROE) by incorporating an orientation estimate and weight calculation mechanism to determine an optimal orientation for particles and a particles size bal...
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| Format: | Others |
| Language: | zh-TW |
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2014
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| Online Access: | http://ndltd.ncl.edu.tw/handle/84423351541989740202 |
| Summary: | 碩士 === 國立臺灣師範大學 === 電機工程研究所 === 102 === This paper proposes an improved Monte Carlo Localization algorithm with robust orientation estimation (IMCLROE) by incorporating an orientation estimate and weight calculation mechanism to determine an optimal orientation for particles and a particles size balancing mechanism to regulate the number of particles for position tracking and global localization. Based on previously established sensory information, the proposed IMCLROE can improve the computational efficiency of robot localization. Position tracking accuracy and global localization successful rate are also significantly improved while maintaining a minimal population of particles. Simulation and experimental results have confirmed the effectiveness of the proposed approach.
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