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Localization of a robot using particle filter with range and bearing information
- Authors
- Kim, T.G.; Choi, H.-T.; Ko, N.Y.
- Issue Date
- 2013
- Publisher
- IEEE Computer Society
- Keywords
- Localization; Navigation; Particle filter; Range and bearing; Robot
- Citation
- 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013, pp 368 - 370
- Pages
- 3
- Journal Title
- 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
- Start Page
- 368
- End Page
- 370
- ISSN
- 0000-0000
- Abstract
- This paper reports a localization method based on particle filter with range and bearing information for fixed landmarks. The method consists of motion model which predicts pose of a robot, sensor model which evaluates the predicted pose, and resampling which modifies the evaluated pose. The proposed particle filter method utilizes bearing information as well as range information. The results of a simulation show trajectories for estimated robot location. Also, there is a result for comparison of performances using the proposed method and extended Kalman filter based method. ？ 2013 IEEE.
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