教師資料查詢 | 類別: 期刊論文 | 教師: 翁慶昌 Wong Ching-chang (瀏覽個人網頁)

標題:Localization of mobile robots via an enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search
學年99
學期2
出版(發表)日期2011/07/01
作品名稱Localization of mobile robots via an enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search
作品名稱(其他語言)
著者Hsu, Chen-Chien; Wong, Ching-Chang; Teng, Hung-Chih; Li, Nai-Jen; Ho, Cheng-Yao
單位淡江大學電機工程學系
出版者Kumamoto: I C I C International
著錄名稱、卷期、頁數International Journal of Innovative Computing, Information and Control 7(7A), pp.3725–3737
摘要A localization method based on an enhanced particle filter incorporating tournament selection and Nelder-Mead simplex search (NM-EPF) for autonomous mobile robots navigating in a soccer robot game field is proposed in this paper. To analyze the environment, an omnidirectional vision device is mounted on top of the robot. Through detecting the white boundary lines relative to the robot in the game field, weighting for each particle representing the robot's pose can be iteratively updated via the proposed NM-EPF algorithm. Thanks to the hybridization effect of the NM-EPF, particles converge to the actual position of the robot in a responsive way while tackling uncertainties. Simulation and experiment results have confirmed that the proposed NM-EPF has better localization performance in the soccer robot game field in comparison to the conventional particle filter.
關鍵字Computational Theory and Mathematics;Information Systems;Software;Theoretical Computer Science
語言英文
ISSN1349-4198
期刊性質國外
收錄於SCI;
產學合作
通訊作者Hsu, Chen-Chien
審稿制度
國別日本
公開徵稿
出版型式,紙本
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