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Robust Mobile Robot Localization Using a Evolutionary Particle Filter

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Computational Intelligence and Security (CIS 2005)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 3801))

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Abstract

The application of the auxiliary particle filter to the robot localization problem is considered. The auxiliary particle filter (APF) is an enhancement of the generic particle filter. However, APF suffers from the impoverishment problem and needs a large number of particles to represent the system posterior probability density function. An evolutionary computing method, the genetic algorithm is introduced into APF to remove early convergence yet improves the quality of potential solutions. Experiment results show that the evolutionary APF algorithm needs fewer particles and is more precise and robust for mobile robot localization in dynamic environment.

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Author information

Authors and Affiliations

  1. Computer Science Department of Ocean University of China, Postfach 26 60 71, Qingdao, China

    Bo Yin, Zhiqiang Wei & Xiaodong Zhuang

Authors
  1. Bo Yin
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  2. Zhiqiang Wei
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  3. Xiaodong Zhuang
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Editor information

Editors and Affiliations

  1. Microelectronic Instiute, Xidian University, 710071, Xi’an, China

    Yue Hao

  2. Department of Computer Science, Hong Kong Baptist University, Kowloon Tong, Hong Kong

    Jiming Liu

  3. School of Computer Science and Technology, Xidian University, Xi’an, China

    Yuping Wang

  4. Department of Computer Science, Hong Kong Baptist University, Hong Kong,  

    Yiu-ming Cheung

  5. School of Electrical and Electronic Engineering, University of Manchester, UK

    Hujun Yin

  6. Life Science Research Center, School of Electronic Engineering, Xidian University, 710071, Xi’an, Shaanxi, China

    Licheng Jiao

  7. Key Laboratory of Computer Networks and Information Security (Ministry of Education), Xidian University, 710071, Xi’an, China

    Jianfeng Ma

  8. National Laboratory of Antennas and Microwave Technology, Xidian University, 710071, Xi’an, Shanxi, P.R. China

    Yong-Chang Jiao

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© 2005 Springer-Verlag Berlin Heidelberg

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Yin, B., Wei, Z., Zhuang, X. (2005). Robust Mobile Robot Localization Using a Evolutionary Particle Filter. In: Hao, Y., et al. Computational Intelligence and Security. CIS 2005. Lecture Notes in Computer Science(), vol 3801. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11596448_40

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  • DOI: https://doi.org/10.1007/11596448_40

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-30818-8

  • Online ISBN: 978-3-540-31599-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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