Universiti Teknologi Malaysia Institutional Repository

Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot

Bukhori, I. and Ismail, Z. H. (2017) Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot. International Journal of Advanced Robotic Systems, 14 (4). pp. 1-6. ISSN 1729-8806

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Abstract

This article proposes a new method to detect the kidnapped robot problem event in Monte Carlo localization. The method is designed in such a manner that it can provide accurate detection across all time instances, whether the robot can still recognize part of the environment or is totally lost after kidnapping. The proposed method uses the sensor reading of the robot to determine if robot’s displacement at particular time instance is considered a natural displacement or not. A series of simulations are designed to measure the accuracy of detection and how it compares to other methods. The simulations show that the proposed method outperforms the methods of detection based on the weight of particles.

Item Type:Article
Uncontrolled Keywords:Monte Carlo localization, sensor reading
Subjects:T Technology > T Technology (General)
Divisions:Malaysia-Japan International Institute of Technology
ID Code:76309
Deposited By: Widya Wahid
Deposited On:29 Jun 2018 22:01
Last Modified:29 Jun 2018 22:01

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