Localization of mobile robot using particle filter

Jeong Woo, Young Joong Kim, Jeong On Lee, Myo Taeg Lim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Citations (Scopus)

Abstract

Localization is an important topic in mobile robots. It is essential that a mobile robot plans movement and reaches goals. In this paper, we described self-localization technique for mobile robot based on particle filtering in active beacon system. The basic method is to estimate value of position and heading of mobile robot using ultrasonic sensor as particle filter is used to eliminate process and measurement noise. Several variants of the particle filter such as SIR and RPF are introduced. These are discussed and compared with EKF for localization of mobile robot.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages3031-3034
Number of pages4
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period06/10/1806/10/21

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Keywords

  • Localization
  • Mobile robot
  • Particle filter
  • Ultrasonic sensor

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Woo, J., Kim, Y. J., Lee, J. O., & Lim, M. T. (2006). Localization of mobile robot using particle filter. In 2006 SICE-ICASE International Joint Conference (pp. 3031-3034). [4108160] https://doi.org/10.1109/SICE.2006.315151