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Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot

This article proposes a new method to detect the kidnapped robot problem event in Monte Carlo localization. The method is designed in such a manner that it can provide accurate detection across all time instances, whether the robot can still recognize part of the environment or is totally lost after...

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Main Authors: Bukhori, I., Ismail, Z. H.
Format: Article
Language:English
Published: SAGE Publications Inc. 2017
Subjects:
T Technology (General)
Online Access:http://eprints.utm.my/id/eprint/76309/1/ZoolHilmiIsmail_DetectionofKidnappedRobotProbleminMonteCarlo.pdf
http://eprints.utm.my/id/eprint/76309/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85027071378&doi=10.1177%2f1729881417717469&partnerID=40&md5=28fef0ad68b3a626a1fbcf4800eab927
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id my.utm.76309
record_format eprints
spelling my.utm.763092018-06-29T22:01:16Z http://eprints.utm.my/id/eprint/76309/ Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot Bukhori, I. Ismail, Z. H. T Technology (General) This article proposes a new method to detect the kidnapped robot problem event in Monte Carlo localization. The method is designed in such a manner that it can provide accurate detection across all time instances, whether the robot can still recognize part of the environment or is totally lost after kidnapping. The proposed method uses the sensor reading of the robot to determine if robot’s displacement at particular time instance is considered a natural displacement or not. A series of simulations are designed to measure the accuracy of detection and how it compares to other methods. The simulations show that the proposed method outperforms the methods of detection based on the weight of particles. SAGE Publications Inc. 2017 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/76309/1/ZoolHilmiIsmail_DetectionofKidnappedRobotProbleminMonteCarlo.pdf Bukhori, I. and Ismail, Z. H. (2017) Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot. International Journal of Advanced Robotic Systems, 14 (4). pp. 1-6. ISSN 1729-8806 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85027071378&doi=10.1177%2f1729881417717469&partnerID=40&md5=28fef0ad68b3a626a1fbcf4800eab927
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic T Technology (General)
spellingShingle T Technology (General)
Bukhori, I.
Ismail, Z. H.
Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot
description This article proposes a new method to detect the kidnapped robot problem event in Monte Carlo localization. The method is designed in such a manner that it can provide accurate detection across all time instances, whether the robot can still recognize part of the environment or is totally lost after kidnapping. The proposed method uses the sensor reading of the robot to determine if robot’s displacement at particular time instance is considered a natural displacement or not. A series of simulations are designed to measure the accuracy of detection and how it compares to other methods. The simulations show that the proposed method outperforms the methods of detection based on the weight of particles.
format Article
author Bukhori, I.
Ismail, Z. H.
author_facet Bukhori, I.
Ismail, Z. H.
author_sort Bukhori, I.
title Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot
title_short Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot
title_full Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot
title_fullStr Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot
title_full_unstemmed Detection of kidnapped robot problem in Monte Carlo localization based on the natural displacement of the robot
title_sort detection of kidnapped robot problem in monte carlo localization based on the natural displacement of the robot
publisher SAGE Publications Inc.
publishDate 2017
url http://eprints.utm.my/id/eprint/76309/1/ZoolHilmiIsmail_DetectionofKidnappedRobotProbleminMonteCarlo.pdf
http://eprints.utm.my/id/eprint/76309/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85027071378&doi=10.1177%2f1729881417717469&partnerID=40&md5=28fef0ad68b3a626a1fbcf4800eab927
_version_ 1643657274941505536
score 13.211869

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