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- W389322511 abstract "In order to achieve the autonomy of mobile robots, effective localization is a necessary prerequisite. In this thesis, we first study and compare three regular Markov localization algorithms by simulations. Then we propose an improved Monte Carlo localization algorithm using self-adaptive samples, abbreviated as SAMCL. By employing a pre-caching technique to reduce the on-line computational burden, SAMCL is more efficient than regular MCL. Further, we define the concept of similar energy region (SER), which is a set of poses (grid cells) having similar energy with the robot in the robot space. By distributing global samples in SER instead of distributing randomly in the map, SAMCL obtains a better performance in localization. Position tracking, global localization and the kidnapped robot problem are the three sub-problems of the localization problem. Most localization approaches focus on solving one of these sub-problems. However, SAMCL solves all the three sub-problems together thanks to self-adaptive samples that can automatically separate themselves into a global sample set and a local sample set according to needs. Cooperative localization among multiple robots is carried out by exchanging localization information derived from cooperation. We devise the Position Mapping (PM) algorithm to integrate this information, which can merge into the SAMCL algorithm as an extension. The validity and the efficiency of our algorithm are demonstrated by experiments carried out with a real robot in a structured and known environment. Extensive experiment results and comparisons are also given in this thesis." @default.
- W389322511 created "2016-06-24" @default.
- W389322511 creator A5020029411 @default.
- W389322511 date "2010-01-15" @default.
- W389322511 modified "2023-09-25" @default.
- W389322511 title "Self-adaptive Markov Localization for Single-Robot and Multi-Robot Systems" @default.
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