Robot@Factory: Localization Method Based on Map-Matching and Particle Swarm Optimization

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

Pinto, AMG (Autor) Outra; António Paulo Moreira (Autor) FEUP; Paulo Gomes da Costa (Autor) FEUP

Ata de Conferência Internacional

Título: Proceedings of the 2013 13th International Conference on Autonomous Robot Systems, ROBOTICA 2013

13th International Conference on Autonomous Robot Systems

Lisbon, PORTUGAL, APR 24, 2013

Indexação

ISI Web of Knowledge - 1 Citação

Scopus - 6 Citações

Outras Informações

ID Authenticus: P-008-K4W

DOI: 10.1109/robotica.2013.6623530

Abstract (EN): This paper presents a novel localization method for small mobile robots. The proposed technique is especially designed for the Robot@Factory which is a new robotic competition presented in Lisbon 2011. The real-time localization technique resorts to low-cost infra-red sensors, a map-matching method and an Extended Kalman Filter (EKF) to create a pose tracking system that is well-behaved. The sensor information is continuously updated in time and space through the expected motion of the robot. Then, the information is incorporated into the map-matching optimization in order to increase the amount of sensor information that is available at each moment. In addition, a particle filter based on Particle Swarm Optimization (PSO) relocates the robot when the map-matching error is high. Meaning that the map-matching is unreliable and robot is lost. The experiments conducted in this paper prove the ability and accuracy of the presented technique to localize small mobile robots for this competition. Therefore, extensive results show that the proposed method have an interesting localization capability for robots equipped with a limited amount of sensors.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6