A practical self-localization scheme for mobile robots using sonar sensors  

作　　者：贺锋 

机构地区：[1]Institute of Robotics and Automatic Information System,Nankai University

出　　处：《High Technology Letters》2009年第1期13-19,共7页高技术通讯（英文版）

基　　金：Supported by the National Natural Science Foundation of China (No. 60875055);Natural Science Foundation of Tianjin (No. 07JCY-BJC05400);Program for New Century Excellent Talents in University (No. NCET-06-0210)

摘　　要：A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples＇ weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.A practical self-localization scheme for mobile robots is proposed and implemented by utilizing sonarsensors.Specifically,the localization problem is solved by employing Monte Carlo method with a newmechanism proposed to calculate the samples’ weights; the convergence and veracity of the sample set areguaranteed by the designed resampling and scattering process.The proposed self-localization algorithm isfully implemented on a specific mobile robot system,and experimental results illustrate that it provides anefficient solution for the kidnapped problem.

关 键 词：mobile robots Monte Carlo localization kidnapped problem SONAR 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP24[自动化与计算机技术—控制科学与工程]