Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robot
In the article, a global localization algorithm based on improved ultra-wide-band-based adaptive Monte Carlo localization is proposed for quick and robust kidnap recovery of mobile robot. First, two ultra-wide-band modules, the tag installed inside the mobile robot and the anchor installed inside ch...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-04-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806231163950 |
| _version_ | 1797848937013444608 |
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| author | Rui Lin Shuai Dong Wei-wei Zhao Yu-hui Cheng |
| author_facet | Rui Lin Shuai Dong Wei-wei Zhao Yu-hui Cheng |
| author_sort | Rui Lin |
| collection | DOAJ |
| description | In the article, a global localization algorithm based on improved ultra-wide-band-based adaptive Monte Carlo localization is proposed for quick and robust kidnap recovery of mobile robot. First, two ultra-wide-band modules, the tag installed inside the mobile robot and the anchor installed inside charging station, are used to obtain the relative distance between the mobile robot and the charging station. Second, the global grid map is converted into a map with obstacle noise given the ranging accuracy of the ultra-wide-band modules with different obstacles. Third, while the robot is kidnapped, matching grids are screened based on the range information of ultra-wide-band modules and the obstacle noise of the grids. Finally, global localization algorithm is performed based on ultra-wide-band-based adaptive Monte Carlo localization to convert randomly generated particles from the whole map into randomly generated particles in the local map. Experimental results based on gazebo simulation and a real scenario showed that our global localization algorithm based on improved ultra-wide-band-based adaptive Monte Carlo localization not only significantly helped to improve the chances of the robot global pose recovery from lost or kidnapped state but also enabled the robot kidnap recovery with a smaller number of randomly generated particles, thus reducing the time to recover its accurate global localization. The algorithm was also more effective especially for kidnap recovery in a similar and large scenario. |
| first_indexed | 2024-04-09T18:35:43Z |
| format | Article |
| id | doaj.art-cecb8fdaf0a74495bdbea160750a3a42 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-04-09T18:35:43Z |
| publishDate | 2023-04-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-cecb8fdaf0a74495bdbea160750a3a422023-04-11T11:03:57ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142023-04-012010.1177/17298806231163950Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robotRui LinShuai DongWei-wei ZhaoYu-hui ChengIn the article, a global localization algorithm based on improved ultra-wide-band-based adaptive Monte Carlo localization is proposed for quick and robust kidnap recovery of mobile robot. First, two ultra-wide-band modules, the tag installed inside the mobile robot and the anchor installed inside charging station, are used to obtain the relative distance between the mobile robot and the charging station. Second, the global grid map is converted into a map with obstacle noise given the ranging accuracy of the ultra-wide-band modules with different obstacles. Third, while the robot is kidnapped, matching grids are screened based on the range information of ultra-wide-band modules and the obstacle noise of the grids. Finally, global localization algorithm is performed based on ultra-wide-band-based adaptive Monte Carlo localization to convert randomly generated particles from the whole map into randomly generated particles in the local map. Experimental results based on gazebo simulation and a real scenario showed that our global localization algorithm based on improved ultra-wide-band-based adaptive Monte Carlo localization not only significantly helped to improve the chances of the robot global pose recovery from lost or kidnapped state but also enabled the robot kidnap recovery with a smaller number of randomly generated particles, thus reducing the time to recover its accurate global localization. The algorithm was also more effective especially for kidnap recovery in a similar and large scenario.https://doi.org/10.1177/17298806231163950 |
| spellingShingle | Rui Lin Shuai Dong Wei-wei Zhao Yu-hui Cheng Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robot International Journal of Advanced Robotic Systems |
| title | Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robot |
| title_full | Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robot |
| title_fullStr | Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robot |
| title_full_unstemmed | Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robot |
| title_short | Ultra-wide-band-based adaptive Monte Carlo localization for kidnap recovery of mobile robot |
| title_sort | ultra wide band based adaptive monte carlo localization for kidnap recovery of mobile robot |
| url | https://doi.org/10.1177/17298806231163950 |
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