로봇학회논문지 (The Journal of Korea Robotics Society)
- 제2권1호
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- Pages.29-39
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- 2007
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- 1975-6291(pISSN)
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- 2287-3961(eISSN)
표식 지도를 이용한 이동로봇의 광역 위치인식 및 kidnap recovery
Implementation of Global Localization and Kidnap Recovery for Mobile Robot on Feature Map
초록
We present an implementation of particle filter algorithm for global localization and kidnap recovery of mobile robot. Firstly, we propose an algorithm for efficient particle initialization using sonar line features. And then, the average likelihood and entropy of normalized weights are used as a quality measure of pose estimation. Finally, we propose an active kidnap recovery by adding new particle set. New and independent particle set can be initialized by monitoring two quality measures. Added particle set can re-estimate the pose of kidnapped robot. Experimental results demonstrate the capability of our global localization and kidnap recovery algorithm.