Hệ thống định vị kết hợp giữa bộ lọc hạt và hợp nhất cảm biến cho các robot tự hành hoạt động trong điều kiện dữ liệu của cảm biến bị gián đoạn

Tóm tắt

An effective and accurate localization system is
necessary for mobile robots to safely and
autonomously navigate in dynamic environments,
especially noisy environments with interrupted sensor
data. Nevertheless, to the best of our knowledge, there
have not been satisfactory researches on localization
systems in the interrupted information. Therefore, in
this paper, we propose an effective localization
system based on the particle filter algorithm and
sensor fusion technique. The proposed algorithm is
verified and demonstrated in a simulation
environment, in which the mobile robot navigates
through a roofed area where no measurement can be
made, or a part of a signal is lost. The simulation
results show that our proposed localization system is
able to provide higher accuracy robot’s position when
the mobile robot navigates in the interrupted signal
situation.