Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot

• Main Authors: Bukhori, I., Ismail, Z. H.
• Format: Article
• Language: English
• Published: SAGE Publications Inc. 2017
• Subjects: T Technology (General)
• 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
• Institution: Universiti Teknologi Malaysia

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...