A Robot Localization Method Based on Adaptive Sensor Resetting Algorithm

GAO Qing-ji; LEI Ya-li; HU Dan-dan; YU Yong-sheng

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A Robot Localization Method Based on Adaptive Sensor Resetting Algorithm

更新时间：2025-07-16

- A Robot Localization Method Based on Adaptive Sensor Resetting Algorithm
- Acta Electronica Sinica Vol. 35, Issue 11, Pages: 2166-2171(2007)
- 作者机构：
  
  1. 中国民航大学机器人研究所,天津,300300
  2. 西北电力设计院,陕西,西安,710032
  3. 天津市智能信号与图象处理重点实验室,天津,300300
  4. 中国民航大学机器人研究所天津,300300
  5. 西北电力设计院陕西西安,710032
  6. 天津市智能信号与图象处理重点实验室天津,300300
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Published：2007
- 稿件说明：
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GAO Qing-ji, LEI Ya-li, HU Dan-dan, et al. A Robot Localization Method Based on Adaptive Sensor Resetting Algorithm[J]. Acta Electronica Sinica, 2007, 35(11): 2166-2171.
DOI：

GAO Qing-ji, LEI Ya-li, HU Dan-dan, et al. A Robot Localization Method Based on Adaptive Sensor Resetting Algorithm[J]. Acta Electronica Sinica, 2007, 35(11): 2166-2171. DOI：

摘要

本文在传统粒子滤波的基础上提出了一种基于自适应感知复位定位算法(ASRL:Adaptive Sensor Resetting Localization)的移动机器人定位方法.该方法通过带有权值的样本集描绘机器人的可信度

根据有效的样本数计算需要生成的新样本数

然后从感知分布中采样代替原来的样本.ASRL算法已经在安装有编码器和彩色摄像机两种传感器的实际移动机器人上进行实验

结果表明该算法鲁棒性更好

收敛更快.

Abstract

An adaptive Sensor Resetting Localization (ASRL) algorithm based on traditional Particle Filter is proposed for mobile robot.The belief of robot is represented by a set of weighted samples

new necessary samples are calculated according to effective samples and resampled based on sensor data

and then old samples are replaced with new samples during ASRL algorithm.This algorithm is used on autonomous mobile robot AMR-ITL equipped with encoder and color camera sensor successfully

experiment result shows that ASRL is a more robust and quickly convergence algorithm.

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