Subscribe Now Subscribe Today
Science Alert
 
Blue
   
Curve Top
Information Technology Journal
  Year: 2010 | Volume: 9 | Issue: 8 | Page No.: 1585-1597
DOI: 10.3923/itj.2010.1585.1597
 
Facebook Twitter Digg Reddit Linkedin StumbleUpon E-mail

Improved Monte Carlo Localization Algorithm in a Hybrid Robot and Camera Network

Zhiwei Liang, Xudong Ma, Fang Fang and Songhao Zhu

Abstract:
In order to overcome the difficulty of a mobile robot to perform localization only with its onboard sensors, this study presents a probabilistic algorithm Monte Carlo Localization (MCL) to solve the problem of mobile robot localization in a hybrid robot and camera network in real time. On one hand, the robot does perform localization depending on its laser sensor using Monte Carlo method. On the other hand, environment cameras can detect the robot in their field of view during robot localization. According to a built environment camera model, MCL method extended to update robot’s belief whichever information (positive or negative) attained from environmental camera sensors. Meanwhile, all the parameters of each environmental camera are unknown in advance and need be calibrated independently by robot. Once calibrated, the positive and negative detection models can be built up according to the parameters of environmental cameras. A further experiment, obtained with the real robot in an indoor office environment, illustrates it has drastic improvement in global localization speed and accuracy using our algorithm.
PDF Fulltext XML References Citation Report Citation
 RELATED ARTICLES:
  •    Visual Navigation Control System for Home Robots
  •    Flexible Navigation Strategies by Predicting Human Motion Tendency
  •    Large Signal Analysis of Spatial Chirped Grating Distributed Feedback Laser
  •    A Study of Bidirectional Antenna for Indoor Localization using Zigbee Wireless Sensor Network
  •    Design of Augmented Extended and Unscented Kalman Filters for Differential-Drive Mobile Robots
  •    Distributed Localization Based on Hessian Local Linear Embedding Algorithm in Wireless Sensor Networks
  •    Lidar Scan-Matching for Mobile Robot Localization
How to cite this article:

Zhiwei Liang, Xudong Ma, Fang Fang and Songhao Zhu, 2010. Improved Monte Carlo Localization Algorithm in a Hybrid Robot and Camera Network. Information Technology Journal, 9: 1585-1597.

DOI: 10.3923/itj.2010.1585.1597

URL: https://scialert.net/abstract/?doi=itj.2010.1585.1597

COMMENT ON THIS PAPER
 
 
 

 

 
 
 
 
 
 
 
 
 

 
 
 
 
 

Curve Bottom