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Novel Adaptive Particle Filter Using Adjusted Variance and Its Application

Authors
Park, Sang-HyukKim, Young-JoongLim, Myo-Taeg
Issue Date
8월-2010
Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
Keywords
Kullback-leibler distance; mobile robot; particle filter; ultrasonic beacon
Citation
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.8, no.4, pp.801 - 807
Indexed
SCIE
SCOPUS
KCI
Journal Title
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume
8
Number
4
Start Page
801
End Page
807
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/116012
DOI
10.1007/s12555-010-0412-4
ISSN
1598-6446
Abstract
Precise estimation of the position of robots, which is essential in mobile robotics, is difficult to achieve. However, particle filter shows great promise in this area. The number of samples used in this study is closely related to the operation time in particle filtering. The main issue in real-time implementation with regard to particle filter is to reduce the operation time, which led to the development of the adaptive particle filter (APF). We propose a new APF which adjusts the variance and then uses the gradient data to generate samples near the high likelihood region. The experiment results show that the new APF performs better, in terms of the total operation time and sample set size, than the standard particle filter and the APF using Kullback-Leibler distance sampling.
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공과대학 (전기전자공학부)
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