A Monte Carlo localization Algorithm based on Ranging

Qi, Xin; Ji, Wenjie; Wang, Qijin

doi:10.1109/eitce47263.2019.9094923

2019 3rd International Conference on Electronic Information Technology and Computer Engineering (EITCE) 2019

DOI: 10.1109/eitce47263.2019.9094923

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A Monte Carlo localization Algorithm based on Ranging

Xin Qi

Wenjie Ji

Qijin Wang

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2023

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Application and Research on Improved Adaptive Monte Carlo Localization Algorithm for Automatic Guided Vehicle Fusion with QR Code Navigation

Zhang,

Li,

Qiu

et al. 2023

Applied Sciences

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SLAM (simultaneous localization and mapping) technology incorporating QR code navigation has been widely used in the mobile robotics industry. However, the particle kidnapping problem, positioning accuracy, and navigation time are still urgent issues to be solved. In this paper, a SLAM fused QR code navigation method is proposed and an improved adaptive Monte Carlo positioning algorithm is used to fuse the QR code information. Firstly, the generation and resampling methods of initialized particle swarms are improved to improve the robustness and weights of the swarms and to avoid the kidnapping problem. Secondly, the Gmapping scan data and the data generated by the improved AMCL algorithm are fused using the extended Kalman filter to improve the accuracy and stability of the state estimation. Finally, in terms of the positioning system, Gmapping is used to obtain QR code data as marker positions on static maps, and the improved adaptive Monte Carlo localization particle positioning algorithm is matched with a library of QR code templates, which corrects for offset distances and achieves precise point-to-point positioning under grey-valued raster maps. The experimental results show that the particles encountered with kidnapping can be quickly adjusted in position, with a 68.73% improvement in adjustment time, 64.27% improvement in navigation and positioning accuracy, and 42.81% reduction in positioning time.

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Application and Research on Improved Adaptive Monte Carlo Localization Algorithm for Automatic Guided Vehicle Fusion with QR Code Navigation

Zhang,

Li,

Qiu

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

show abstract

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A Monte Carlo localization Algorithm based on Ranging

Cited by 1 publication

References 5 publications

Application and Research on Improved Adaptive Monte Carlo Localization Algorithm for Automatic Guided Vehicle Fusion with QR Code Navigation

Application and Research on Improved Adaptive Monte Carlo Localization Algorithm for Automatic Guided Vehicle Fusion with QR Code Navigation

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