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Title Differential Evolution approach to the Localization Problem for Mobile Robots
Author Lisowski, Michal
Supervisor Fan, Zhun (Engineering Design and Product Development, Department of Management Engineering, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Ravn, Ole (Automation and Control, Department of Electrical Engineering, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Master's thesis
Year 2009
Abstract This project focuses on the mobile robot localization problem, which was divided into three subproblems: pose tracking, global localization and robot kidnap. An existing and well established algorithm - Monte Carlo Localiza- tion (MCL) - was selected as the benchmark and the base for new method. The main purpose of this study was to investigate how Differential Evolu- tion (DE) can be applied to extend MCL in order to better solve localization problem by increasing localization reliability and speed. In addition, a novel mechanism for effective robot kidnap detection was proposed and tested. Experiments were performed using computer simulations based on the odom- etry data and laser range finder measurements collected in advance by a robot in real-life. Four different indoor environments were used to ensure reliable results. Based on the experiments outcome, it was found that inte- grating DE enables MCL to provide more accurate robot pose estimations in shorter time while using less particles.
Imprint Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Pages 119
Fulltext
Original PDF Lisowski_MSc_online_2009_09_18.pdf (1.08 MB)
Admin Creation date: 2010-01-15    Update date: 2010-01-15    Source: dtu    ID: 256460    Original MXD