期刊論文
| 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 | en |
| ISSN | 1349-4198 |
| 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 | 否 |
| 國別 | JPN |
| 公開徵稿 | |
| 出版型式 | ,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/61032 ) |