Application of Monte Carlo for Localizing a Mobile Robot using Odometry and Laser scanner Data
Publish Year: 1394
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICEEE07_087
تاریخ نمایه سازی: 19 اردیبهشت 1395
Abstract:
Most robotic missions would be impossible unless the position of the robot at every moment is known. Accurate localization plays an important role in robotic motion control. Research has shown that probability-based methods suggest most reliable solutions in this regard. Localization based on particle-filtering is among most efficient methods that provides a model by using a set of weighted samples and based on Monte Carlo’s method. The presented work describes how a ROS-based control system is used with a Pioneer 3-AT robot for indoor mapping and localization. Main purpose of this paper is to demonstrate accuracy of domestication and an increase in accuracy of localization. For experiments, one real environment has been tested. Some implementation was done in C and Python. This paper has also compared Monte Carlo’s output results to odometry demonstrating that more accurate results are provided the purpose is reduction of positioning errors by Monte Carlo’s method.
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Authors
Yasamin Keshmiri Esfandabadi
Faculty of Electrical and Mechatronic Engineering Qazvin Branch, Islamic Azad University Qazvin, Iran
Ahmad Fakharian
Faculty of Electrical and Mechatronic Engineering Qazvin Branch, Islamic Azad University Qazvin, Iran