This paper focuses on the mobile robot localization problems: pose tracking, global localization and robot kidnap. Differential Evolution (DE) applied to extend Monte Carlo Localization (MCL) was investigated to better solve localization problem by increasing localization reliability and speed. In addition, a novel mechanism for effective robot kidnap detection was proposed. Experiments were performed using computer simulations based on the odometer data and laser range finder measurements collected in advance by a robot in real-life. Experimental results showed that integrating DE enables MCL to provide more accurate robot pose estimations in shorter time while using fewer particles.
Ieee International Fuzzy Systems Conference: Fuzz-ieee, 2011, p. 241-247
Differential Evolution; Mobile robot; Particle filter; Monte Carlo Localization
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2011 IEEE International Conference on Fuzzy Systems, 2011