An improved particle filter for mobile robot localization based on particle swarm optimization
作者：
Highlights：
• Accurate and robust global localization is achieved using only laser sensors.
• Multiple solutions for the initial pose can be found in symmetric environments.
• Robust pose tracking is realized by tracking multiple solutions as the robot moves.
• The proposed approach is robust to system errors when tracking the robot state.
• The overall performance for robot localization is improved with fewer particles.
摘要
•Accurate and robust global localization is achieved using only laser sensors.•Multiple solutions for the initial pose can be found in symmetric environments.•Robust pose tracking is realized by tracking multiple solutions as the robot moves.•The proposed approach is robust to system errors when tracking the robot state.•The overall performance for robot localization is improved with fewer particles.
论文关键词：Mobile robot,Global localization,Local pose tracking,Particle filter,Particle swarm optimization
论文评审过程：Received 20 February 2018, Revised 4 June 2019, Accepted 5 June 2019, Available online 6 June 2019, Version of Record 14 June 2019.
论文官网地址：https://doi.org/10.1016/j.eswa.2019.06.006
