高技术通讯（英文版）2009，Vol.15Issue(1)：13-19,7.DOI:10.3772/j.issn.1006-6748.2009.01.003
A practical self-localization scheme for mobile robots using sonar sensors
A practical self-localization scheme for mobile robots using sonar sensors
摘要
Abstract
A practical self-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples' weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed self-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.关键词
mobile robots/Monte Carlo localization/kidnapped problem/sonarKey words
mobile robots/Monte Carlo localization/kidnapped problem/sonar分类
信息技术与安全科学引用本文复制引用
He Feng,Fang Yongchun,Ma Bojun,Wang Yutao..A practical self-localization scheme for mobile robots using sonar sensors[J].高技术通讯（英文版）,2009,15(1):13-19,7.基金项目
Supported by the National Natural Science Foundation of China (No. 60875055), Natural Science Foundation of Tianjin (No. 07JCY- BJC05400) and Program for New Century Excellent Talents in University (No. NCET-06-0210). （No. 60875055）
