An extended analysis on tuning the parameters of Adaptive Monte Carlo Localization ROS package in an automated guided vehicle

نویسندگان

چکیده

With a growth tendency, the employment of Adaptive Monte Carlo Localization (AMCL) Robot Operational System (ROS) package does not reflect more in-depth discussion on its parameters’ tuning process. The authors usually do describe it. This work aims to extend analysis package’s distinct influence in an automated guided vehicle (AGV) indoor localization. experiments test parameters filter, laser model, and odometry model. Extending previous seven parameters, present research discusses another ten from 22 configurable package. An external visual pose tracking is used compare estimation localization Although article propose best parameter tuning, results discuss how each tested affects paper’s contribution discussing variation impact AGV using covariance matrix results. It may help new researchers AMCL ROS show minor changes default which can improve results, even modifying one at time.

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ژورنال

عنوان ژورنال: The International Journal of Advanced Manufacturing Technology

سال: 2021

ISSN: ['1433-3015', '0268-3768']

DOI: https://doi.org/10.1007/s00170-021-07437-0