An improved Adaptive Monte Carlo Localization Algorithm Fused with Ultra Wideband Sensor

Yang Wang; Weimin Zhang; Fangxing Li; Yongliang Shi; Zhuo Chen; Fuyu Nie; Chi Zhu; Qiang Huang

doi:10.1109/ARSO46408.2019.8948809

An improved Adaptive Monte Carlo Localization Algorithm Fused with Ultra Wideband Sensor

Yang Wang, Weimin Zhang^*, Fangxing Li, Yongliang Shi, Zhuo Chen, Fuyu Nie, Chi Zhu, Qiang Huang

^*此作品的通讯作者

机电学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

4 引用（Scopus）

摘要

In this paper, an optimization algorithm is proposed to achieve efficient global positioning and recovery from kidnap in open environment. Due to the ability of some sensors to achieve global localization efficiently, such as Ultra-Wideband (UWB), Wi-Fi, and camera, we take the UWB sensor to improve AMCL. By comparing various ranging and positioning schemes, we propose a specific analysis of UWB ranging and positioning methods, as well as an observation model for integrating UWB information. Finally, the efficiency of this method is proved by comparison with AMCL. Thus, the time to locate globally is about 3 seconds, while more than 100 seconds using AMCL.

源语言	英语
主期刊名	2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
出版商	IEEE Computer Society
页	421-426
页数	6
ISBN（电子版）	9781728131764
DOI	https://doi.org/10.1109/ARSO46408.2019.8948809
出版状态	已出版 - 10月 2019
活动	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, 中国期限: 31 10月 2019 → 2 11月 2019

出版系列

姓名	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
卷	2019-October
ISSN（印刷版）	2162-7568
ISSN（电子版）	2162-7576

会议

会议	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
国家/地区	中国
市	Beijing
时期	31/10/19 → 2/11/19

访问文件

10.1109/ARSO46408.2019.8948809

其它文件与链接

链接到 Scopus 的出版物

引用此

Wang, Y., Zhang, W., Li, F., Shi, Y., Chen, Z., Nie, F., Zhu, C., & Huang, Q. (2019). An improved Adaptive Monte Carlo Localization Algorithm Fused with Ultra Wideband Sensor. 在 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (页码 421-426). 文章 8948809 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; 卷 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948809

@inproceedings{44ede809c8ab4255b3bb3770ee782e0e,

title = "An improved Adaptive Monte Carlo Localization Algorithm Fused with Ultra Wideband Sensor",

abstract = "In this paper, an optimization algorithm is proposed to achieve efficient global positioning and recovery from kidnap in open environment. Due to the ability of some sensors to achieve global localization efficiently, such as Ultra-Wideband (UWB), Wi-Fi, and camera, we take the UWB sensor to improve AMCL. By comparing various ranging and positioning schemes, we propose a specific analysis of UWB ranging and positioning methods, as well as an observation model for integrating UWB information. Finally, the efficiency of this method is proved by comparison with AMCL. Thus, the time to locate globally is about 3 seconds, while more than 100 seconds using AMCL.",

keywords = "Fusion, MCL, UWB",

author = "Yang Wang and Weimin Zhang and Fangxing Li and Yongliang Shi and Zhuo Chen and Fuyu Nie and Chi Zhu and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 ; Conference date: 31-10-2019 Through 02-11-2019",

year = "2019",

month = oct,

doi = "10.1109/ARSO46408.2019.8948809",

language = "English",

series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",

publisher = "IEEE Computer Society",

pages = "421--426",

booktitle = "2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019",

address = "United States",

}

Wang, Y, Zhang, W , Li, F, Shi, Y, Chen, Z, Nie, F, Zhu, C & Huang, Q 2019, An improved Adaptive Monte Carlo Localization Algorithm Fused with Ultra Wideband Sensor. 在 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019., 8948809, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, 卷 2019-October, IEEE Computer Society, 页码 421-426, 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, 中国, 31/10/19. https://doi.org/10.1109/ARSO46408.2019.8948809

An improved Adaptive Monte Carlo Localization Algorithm Fused with Ultra Wideband Sensor. / Wang, Yang; Zhang, Weimin ; Li, Fangxing 等.
2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society, 2019. 页码 421-426 8948809 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; 卷 2019-October).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - An improved Adaptive Monte Carlo Localization Algorithm Fused with Ultra Wideband Sensor

AU - Wang, Yang

AU - Zhang, Weimin

AU - Li, Fangxing

AU - Shi, Yongliang

AU - Chen, Zhuo

AU - Nie, Fuyu

AU - Zhu, Chi

AU - Huang, Qiang

PY - 2019/10

Y1 - 2019/10

N2 - In this paper, an optimization algorithm is proposed to achieve efficient global positioning and recovery from kidnap in open environment. Due to the ability of some sensors to achieve global localization efficiently, such as Ultra-Wideband (UWB), Wi-Fi, and camera, we take the UWB sensor to improve AMCL. By comparing various ranging and positioning schemes, we propose a specific analysis of UWB ranging and positioning methods, as well as an observation model for integrating UWB information. Finally, the efficiency of this method is proved by comparison with AMCL. Thus, the time to locate globally is about 3 seconds, while more than 100 seconds using AMCL.

AB - In this paper, an optimization algorithm is proposed to achieve efficient global positioning and recovery from kidnap in open environment. Due to the ability of some sensors to achieve global localization efficiently, such as Ultra-Wideband (UWB), Wi-Fi, and camera, we take the UWB sensor to improve AMCL. By comparing various ranging and positioning schemes, we propose a specific analysis of UWB ranging and positioning methods, as well as an observation model for integrating UWB information. Finally, the efficiency of this method is proved by comparison with AMCL. Thus, the time to locate globally is about 3 seconds, while more than 100 seconds using AMCL.

KW - Fusion

KW - MCL

KW - UWB

UR - http://www.scopus.com/inward/record.url?scp=85078351855&partnerID=8YFLogxK

U2 - 10.1109/ARSO46408.2019.8948809

DO - 10.1109/ARSO46408.2019.8948809

M3 - Conference contribution

AN - SCOPUS:85078351855

T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

SP - 421

EP - 426

BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019

PB - IEEE Computer Society

T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019

Y2 - 31 October 2019 through 2 November 2019

ER -

Wang Y, Zhang W , Li F, Shi Y, Chen Z, Nie F 等. An improved Adaptive Monte Carlo Localization Algorithm Fused with Ultra Wideband Sensor. 在 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society. 2019. 页码 421-426. 8948809. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). doi: 10.1109/ARSO46408.2019.8948809

An improved Adaptive Monte Carlo Localization Algorithm Fused with Ultra Wideband Sensor

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