Mutual Localization of swarm robot using Particle Filter
نویسندگان
چکیده
منابع مشابه
Automatic Mutual Localization of Swarm Robot Using a Particle Filter
This paper describes an implementation of automatic mutual localization of swarm robots using a particle filter. Each robot determines the location of the other robots using wireless sensors. The measured data will be used for determination of the movement method of the robot itself. It also affects the other robots’ self-arrangement into formations such as circles and lines. We discuss the pro...
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Particle filter (PF) is widely used in mobile robot localization, since it is suitable for the nonlinear nonGaussian system. Localization based on PF, However, degenerates over time. This degeneracy is due to the fact that a particle set estimating the pose of the robot looses its diversity. One of the main reasons for loosing particle diversity is sample impoverishment. It occurs when likeliho...
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ژورنال
عنوان ژورنال: Journal of Korean Institute of Intelligent Systems
سال: 2010
ISSN: 1976-9172
DOI: 10.5391/jkiis.2010.20.2.298