Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor Environment
In the last years, mobile robot localization has been developed significantly due to the need for accurate solutions to determine the position and orientation of the wheeled mobile robot (WMR) in a given environment. Many different sensors have been used to solve the problem. For instance, ultrasoni...
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2022/1999082 |
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| _version_ | 1832553656869715968 |
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| author | Eman Alhamdi Ramdane Hedjar |
| author_facet | Eman Alhamdi Ramdane Hedjar |
| author_sort | Eman Alhamdi |
| collection | DOAJ |
| description | In the last years, mobile robot localization has been developed significantly due to the need for accurate solutions to determine the position and orientation of the wheeled mobile robot (WMR) in a given environment. Many different sensors have been used to solve the problem. For instance, ultrasonic sensors, laser, or infrared sensors are also used to determine the pose of the WMR. However, sensors are sensitive to noise measurements and disturbances, which can distort the acquired information. For this reason, adequate algorithms should be used to reduce these uncertainties and determine the optimal pose of the WMR. In this research work, we focus on the comparative study of the most used algorithms, using landmarks as sensors, which are the extended Kalman filter and particle filter. Further, for an effective comparison, the simulation results were conducted and analyzed using different performance criteria. The simulations results showed better estimation performance achieved by the particle filter being compared to the extended Kalman filter when the sensors are subject to non-Gaussian noises. |
| format | Article |
| id | doaj-art-049f4b64a81c4146b52f0a0786898149 |
| institution | Kabale University |
| issn | 1687-9619 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-049f4b64a81c4146b52f0a07868981492025-02-03T05:53:28ZengWileyJournal of Robotics1687-96192022-01-01202210.1155/2022/1999082Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor EnvironmentEman Alhamdi0Ramdane Hedjar1Department of Computer Engineering at the College of Computer and Information SciencesDepartment of Computer Engineering at the College of Computer and Information SciencesIn the last years, mobile robot localization has been developed significantly due to the need for accurate solutions to determine the position and orientation of the wheeled mobile robot (WMR) in a given environment. Many different sensors have been used to solve the problem. For instance, ultrasonic sensors, laser, or infrared sensors are also used to determine the pose of the WMR. However, sensors are sensitive to noise measurements and disturbances, which can distort the acquired information. For this reason, adequate algorithms should be used to reduce these uncertainties and determine the optimal pose of the WMR. In this research work, we focus on the comparative study of the most used algorithms, using landmarks as sensors, which are the extended Kalman filter and particle filter. Further, for an effective comparison, the simulation results were conducted and analyzed using different performance criteria. The simulations results showed better estimation performance achieved by the particle filter being compared to the extended Kalman filter when the sensors are subject to non-Gaussian noises.http://dx.doi.org/10.1155/2022/1999082 |
| spellingShingle | Eman Alhamdi Ramdane Hedjar Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor Environment Journal of Robotics |
| title | Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor Environment |
| title_full | Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor Environment |
| title_fullStr | Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor Environment |
| title_full_unstemmed | Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor Environment |
| title_short | Comparative Study of Two Localization Approaches for Mobile Robots in an Indoor Environment |
| title_sort | comparative study of two localization approaches for mobile robots in an indoor environment |
| url | http://dx.doi.org/10.1155/2022/1999082 |
| work_keys_str_mv | AT emanalhamdi comparativestudyoftwolocalizationapproachesformobilerobotsinanindoorenvironment AT ramdanehedjar comparativestudyoftwolocalizationapproachesformobilerobotsinanindoorenvironment |