Particle Filter Localization Using Noisy Models


KIPS Transactions on Computer and Communication Systems, Vol. 19, No. 1, pp. 27-30, Jan. 2012
10.3745/KIPSTB.2012.19.1.27, Full Text:

Abstract

One of the most fundamental functions required for an intelligent agent is to estimate its current position based upon uncertain sensor data. In this paper, we explain the implementation of a robot localization system using Particle filters, which are the most effective one of the probabilistic localization methods, and then present the result of experiments for evaluating the performance of our system. Through conducting experiments to compare the effect of the noise-free model with that of the noisy state transition model considering inherent errors of robot actions, we show that it can help improve the performance of the Particle filter localization to apply a state transition model closely approximating the uncertainty of real robot actions.


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Cite this article
[IEEE Style]
I. C. Kim, S. Y. Kim and H. S. Kim, "Particle Filter Localization Using Noisy Models," KIPS Journal B (2001 ~ 2012) , vol. 19, no. 1, pp. 27-30, 2012. DOI: 10.3745/KIPSTB.2012.19.1.27.

[ACM Style]
In Cheol Kim, Seung Yeon Kim, and Hye Suk Kim. 2012. Particle Filter Localization Using Noisy Models. KIPS Journal B (2001 ~ 2012) , 19, 1, (2012), 27-30. DOI: 10.3745/KIPSTB.2012.19.1.27.