A moving grid cell based MCL algorithm for mobile robot localization

Authors:
Yuefeng Wang;Dan Wu;Sepideh Seifzadeh;Jingxi Chen
Affiliations:
School of Computer Science, University of Windsor, Windsor, Ontario, Canada;School of Computer Science, University of Windsor, Windsor, Ontario, Canada;School of Computer Science, University of Windsor, Windsor, Ontario, Canada;School of Computer Science, University of Windsor, Windsor, Ontario, Canada
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

Mobile robot localization is a fundamental and very important problem in robotics. Grid localization and Monte Carlo localization (MCL) are two of the most widely used approaches for localization, especially the MCL. In this paper, we propose a novel global localization algorithm called moving grid cell based MCL, which takes advantages of both grid localization and MCL and overcomes their respective shortcomings. The proposed algorithm can reduce the computational cost, yield good results in highly symmetric environment and help avoid the kidnapping problem. Experimental results demonstrate the effectiveness and advantages of the proposed algorithm.