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An improved particle filter for sparse environments
dc.contributor.author | Silva Junior, Edson Prestes e | pt_BR |
dc.contributor.author | Ritt, Marcus Rolf Peter | pt_BR |
dc.contributor.author | Führ, Gustavo | pt_BR |
dc.date.accessioned | 2013-06-19T01:43:54Z | pt_BR |
dc.date.issued | 2009 | pt_BR |
dc.identifier.issn | 0104-6500 | pt_BR |
dc.identifier.uri | http://hdl.handle.net/10183/72580 | pt_BR |
dc.description.abstract | In this paper, we combine a path planner based on Boundary Value Problems (BVP) and Monte Carlo Localization (MCL) to solve the wake-up robot problem in a sparse environment. This problem is difficult since large regions of sparse environments do not provide relevant information for the robot to recover its pose. We propose a novel method that distributes particle poses only in relevant parts of the environment and leads the robot along these regions using the numeric solution of a BVP. Several experiments show that the improved method leads to a better initial particle distribution and a better convergence of the localization process. | en |
dc.format.mimetype | application/pdf | |
dc.language.iso | eng | pt_BR |
dc.relation.ispartof | Journal of the Brazilian Computer Society. Porto Alegre. Vol. 15, n. 3 (2009 Sept.), p. 55-64 | pt_BR |
dc.rights | Open Access | en |
dc.subject | Boundary value problems | en |
dc.subject | Computação gráfica | pt_BR |
dc.subject | Autonomous navigation | en |
dc.subject | Animacao : Computacao grafica | pt_BR |
dc.subject | Environment exploration | en |
dc.subject | Global localization | en |
dc.subject | Monte Carlo localization | en |
dc.title | An improved particle filter for sparse environments | pt_BR |
dc.type | Artigo de periódico | pt_BR |
dc.identifier.nrb | 000733094 | pt_BR |
dc.type.origin | Nacional | pt_BR |
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