<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In this paper, a spatial-temporal collaborative sequential Monte Carlo architecture for mobile robot localization is designed to well suites intelligent environment for service robotic system. A proposed algorithm, namely Distributed Proportional Allocation-Augmented Particle Filter (DPA-APF), resolves the sensor collaboration problem by the processes of augmented sampling, inter-node resampling, inner-node resampling and particle exchange. These procedures exploit data parallelism and pipelining of resampling operations and improve the scalability of distributed particle filters (PFs). Moreover, modified visual and laser sensor perception models are also addressed to guarantee reliable and accurate robot localization in dynamic scenarios that robot coexists with people. The proposed method is applied to a home-care robotic intelligent room with distributed smart nodes, and the experimental results validate the effectiveness of the proposed method, which is hopeful to reduce the gap that exists between PF theory and their implementation using networked hardware.</p>
</abstract>

In this paper, a spatial-temporal collaborative sequential Monte Carlo architecture for mobile robot localization is designed to well suites intelligent environment for service robotic system. A proposed algorithm, namely Distributed Proportional Allocation-Augmented Particle Filter (DPA-APF), resolves the sensor collaboration problem by the processes of augmented sampling, inter-node resampling, inner-node resampling and particle exchange. These procedures exploit data parallelism and pipelining of resampling operations and improve the scalability of distributed particle filters (PFs). Moreover, modified visual and laser sensor perception models are also addressed to guarantee reliable and accurate robot localization in dynamic scenarios that robot coexists with people. The proposed method is applied to a home-care robotic intelligent room with distributed smart nodes, and the experimental results validate the effectiveness of the proposed method, which is hopeful to reduce the gap that exists between PF theory and their implementation using networked hardware.

Spatial-temporal Collaborative Sequential Monte Carlo for Mobile Robot Localization in Distributed Intelligent Environments

Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

In this paper, a spatial-temporal collaborative sequential Monte Carlo architecture for mobile robot localization is designed to well suites intelligent...

Spatial-temporal Collaborative Sequential Monte Carlo for Mobile Robot Localization in Distributed Intelligent Environments

Publicado en línea: 01 jun 2012

Páginas: 295 - 314

Aceptado: 15 may 2012

DOI: https://doi.org/10.21307/ijssis-2017-482

© 2012 Kun Qian et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.