||Differential Evolution approach to the Localization Problem for Mobile Robots
||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)
||Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
||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.
||Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Creation date: 2010-01-15
Update date: 2010-01-15