Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot
This article proposes a new method to detect the kidnapped robot problem event in Monte Carlo localization. The method is designed in such a manner that it can provide accurate detection across all time instances, whether the robot can still recognize part of the environment or is totally lost after...
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SAGE Publications Inc.
2017
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Online Access: | http://eprints.utm.my/id/eprint/76309/1/ZoolHilmiIsmail_DetectionofKidnappedRobotProbleminMonteCarlo.pdf http://eprints.utm.my/id/eprint/76309/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85027071378&doi=10.1177%2f1729881417717469&partnerID=40&md5=28fef0ad68b3a626a1fbcf4800eab927 |
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my.utm.763092018-06-29T22:01:16Z http://eprints.utm.my/id/eprint/76309/ Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot Bukhori, I. Ismail, Z. H. T Technology (General) This article proposes a new method to detect the kidnapped robot problem event in Monte Carlo localization. The method is designed in such a manner that it can provide accurate detection across all time instances, whether the robot can still recognize part of the environment or is totally lost after kidnapping. The proposed method uses the sensor reading of the robot to determine if robot’s displacement at particular time instance is considered a natural displacement or not. A series of simulations are designed to measure the accuracy of detection and how it compares to other methods. The simulations show that the proposed method outperforms the methods of detection based on the weight of particles. SAGE Publications Inc. 2017 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/76309/1/ZoolHilmiIsmail_DetectionofKidnappedRobotProbleminMonteCarlo.pdf Bukhori, I. and Ismail, Z. H. (2017) Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot. International Journal of Advanced Robotic Systems, 14 (4). pp. 1-6. ISSN 1729-8806 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85027071378&doi=10.1177%2f1729881417717469&partnerID=40&md5=28fef0ad68b3a626a1fbcf4800eab927 |
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T Technology (General) Bukhori, I. Ismail, Z. H. Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot |
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This article proposes a new method to detect the kidnapped robot problem event in Monte Carlo localization. The method is designed in such a manner that it can provide accurate detection across all time instances, whether the robot can still recognize part of the environment or is totally lost after kidnapping. The proposed method uses the sensor reading of the robot to determine if robot’s displacement at particular time instance is considered a natural displacement or not. A series of simulations are designed to measure the accuracy of detection and how it compares to other methods. The simulations show that the proposed method outperforms the methods of detection based on the weight of particles. |
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Article |
author |
Bukhori, I. Ismail, Z. H. |
author_facet |
Bukhori, I. Ismail, Z. H. |
author_sort |
Bukhori, I. |
title |
Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot |
title_short |
Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot |
title_full |
Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot |
title_fullStr |
Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot |
title_full_unstemmed |
Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot |
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detection of kidnapped robot problem in monte carlo localization based on the natural displacement of the robot |
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SAGE Publications Inc. |
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2017 |
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http://eprints.utm.my/id/eprint/76309/1/ZoolHilmiIsmail_DetectionofKidnappedRobotProbleminMonteCarlo.pdf http://eprints.utm.my/id/eprint/76309/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85027071378&doi=10.1177%2f1729881417717469&partnerID=40&md5=28fef0ad68b3a626a1fbcf4800eab927 |
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