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Sensor Fusion Using Improvement of Resampling Algorithm Particle Filtering for Accurate Location of Mobile Robot

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Computer, Informatics, Cybernetics and Applications

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 107))

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Abstract

Presented chapter deals with the information fusion through used a Divisional Resampling of Particle Filter algorithm. The Divisional Resampling is based on the Multinomial Resampling and the Stratified Resampling, which divides the random number any arrangement into several sub-interval arranged by ascending. The chapter combined Divisional Resampling algorithm and the feedback control algorithm and then integrated the measurement information from odometer and sonar sensor, so that estimating the state vector of a mobile robot to achieve the aim of accurate location.

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References

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Author information

Authors and Affiliations

  1. Department of Automation Engineering, Nanjing University of Posts and Telecommunications, Nanjing, China

    Xiang Gao & YaPing Fu

Authors
  1. Xiang Gao
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  2. YaPing Fu
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Corresponding author

Correspondence to Xiang Gao .

Editor information

Editors and Affiliations

  1. Chinese Academy of Engineering, Beijing, China, People's Republic

    Xingui He

  2. Zhejiang Gongshang University, Beijing, China, People's Republic

    Ertian Hua

  3. Zhejiang Gongshang University, Hangzhou, China, People's Republic

    Yun Lin

  4. , School of Automation, Wuhan University of Technology, East District of Wuhan University, Luoshi Road 122, Wuhan, 4300, China, People's Republic

    Xiaozhu Liu

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© 2012 Springer Science+Business Media B.V.

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Gao, X., Fu, Y. (2012). Sensor Fusion Using Improvement of Resampling Algorithm Particle Filtering for Accurate Location of Mobile Robot. In: He, X., Hua, E., Lin, Y., Liu, X. (eds) Computer, Informatics, Cybernetics and Applications. Lecture Notes in Electrical Engineering, vol 107. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-1839-5_13

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  • DOI: https://doi.org/10.1007/978-94-007-1839-5_13

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-1838-8

  • Online ISBN: 978-94-007-1839-5

  • eBook Packages: EngineeringEngineering (R0)

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