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Implementation of Particle Filters for Mobile Robot Localization

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Recent Advances in Soft Computing (ICSC-MENDEL 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 576))

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Abstract

This paper deals with mobile robot localization purpose. The presented solution is designed for indoor environment only. GPS navigation system cannot be used in environment inside of buildings. Alternative methods have to be used for this purpose. The mobile robot localization is essential part of autonomous mobile robotics. Mobile robot localization together with odometry is necessary for mobile robot navigation. Presented paper contains explanation of localization approach, which is based on probabilistic method. Next part of this paper is description of experimental odometry method, which is based on computer vision.

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Acknowledgement

This research was supported by grant of BUT IGA No. FSI-S-14-2533: “Applied Computer Science and Control”.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, Institute of Automation and Computer Science, Brno University of Technology, Technická 2896/2616 69, Brno, Czech Republic

    Michal Růžička, Petr Mašek & Stanislav Věchet

Authors
  1. Michal Růžička
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  2. Petr Mašek
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  3. Stanislav Věchet
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Corresponding author

Correspondence to Michal Růžička .

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Editors and Affiliations

  1. Department of Applied Computer Science, Institute of Automation and Computer Science, Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic

    Radek Matoušek

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Růžička, M., Mašek, P., Věchet, S. (2017). Implementation of Particle Filters for Mobile Robot Localization. In: Matoušek, R. (eds) Recent Advances in Soft Computing. ICSC-MENDEL 2016. Advances in Intelligent Systems and Computing, vol 576. Springer, Cham. https://doi.org/10.1007/978-3-319-58088-3_22

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  • DOI: https://doi.org/10.1007/978-3-319-58088-3_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-58087-6

  • Online ISBN: 978-3-319-58088-3

  • eBook Packages: EngineeringEngineering (R0)

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