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Moreno Lorente, Luis and Martín Monar, Fernando and Muñoz Marín, María Luisa and Garrido, Santiago (2016). Differential evolution Markov chain filter for global localization. "Journal of Intelligent and Robotic Systems", v. 82 (n. 3-4); pp. 513-536. ISSN 0921-0296. https://doi.org/10.1007/s10846-015-0245-8.
Title: | Differential evolution Markov chain filter for global localization |
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Author/s: |
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Item Type: | Article |
Título de Revista/Publicación: | Journal of Intelligent and Robotic Systems |
Date: | June 2016 |
ISSN: | 0921-0296 |
Volume: | 82 |
Subjects: | |
Freetext Keywords: | Differential evolution; Markov chain; Monte Carlo; Optimization method; Global localization; Mobile robots |
Faculty: | E.T.S. de Ingenieros Informáticos (UPM) |
Department: | Inteligencia Artificial |
Creative Commons Licenses: | Recognition - No derivative works - Non commercial |
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A key challenge for an autonomous mobile robot is to estimate its location according to the available information. A particular aspect of this task is the global localization problem. In our previous work, we developed an algorithm based on the Differential Evolution method that solves this problem in 2D and 3D environments. The robot?s pose is represented by a set of possible location estimates weighted by a fitness function. The Markov Chain Monte Carlo algorithms have been successfully applied to multiple fields such as econometrics or computing science. It has been demonstrated that they can be combined with the Differential Evolution method to solve efficiently many optimization problems. In this work, we have combined both approaches to develop a global localization filter. The algorithm performance has been tested in simulated and real maps. The population requirements have been reduced when compared to the previous version.
Type | Code | Acronym | Leader | Title |
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Madrid Regional Government | S2013/MIT-2748 | ROBOCITY2030-III | Balaguer Bernaldo de Quirós, Carlos | Robótica aplicada a la mejora de la calidad de vida de los ciudadanos (fase III) |
Item ID: | 48837 |
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DC Identifier: | http://oa.upm.es/48837/ |
OAI Identifier: | oai:oa.upm.es:48837 |
DOI: | 10.1007/s10846-015-0245-8 |
Official URL: | https://link.springer.com/article/10.1007%2Fs10846-015-0245-8 |
Deposited by: | Memoria Investigacion |
Deposited on: | 29 Jan 2018 15:34 |
Last Modified: | 29 Jan 2018 15:35 |