Multiple hypothesis tracking for mobile robot localizaiton

Hyukdoo Choi, Euntai Kim, Yong Woon Park, Chong Hui Kim

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

3 Citations (Scopus)

Abstract

Global localization has been studied as a challenging problem in mobile robotics for decades. This paper presents an efficient solution to global localization which includes hypothesis generation, tracking, and elimination process. A combination of a line feature and a point feature can specify the hypotheses of the robot's pose in the map. We keep track of the hypotheses by Monte Carlo localization in which a hypothesis is represented by a set of particles. The false hypotheses are removed when the new hypotheses are generated. Simulations were conducted to prove its performance. The simulation results show that our method outperforms the former methods.

Original languageEnglish
Title of host publication2012 Proceedings of SICE Annual Conference, SICE 2012
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1574-1578
Number of pages5
ISBN (Print)9781467322591
Publication statusPublished - 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: 2012 Aug 202012 Aug 23

Publication series

NameProceedings of the SICE Annual Conference

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period12/8/2012/8/23

All Science Journal Classification (ASJC) codes

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

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