An improvement on SA-MCL Algorithm: Ellipse based energy grids

Abdurrahman Yilmaz; Hakan Temeltas

doi:10.1109/CEIT.2018.8751832

An improvement on SA-MCL Algorithm: Ellipse based energy grids

Abdurrahman Yilmaz^*, Hakan Temeltas

^*Corresponding author for this work

Department of Control and Automation Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, an ellipse based energy calculation algorithm is proposed for Self Adaptive Monte Carlo Localization method, abbreviated as SA-MCL. SA-MCL is a localization method based on particle filters and solves position tracking, global localization and kidnapping problems in localization. The SA-MCL is faster since it uses map energy grids concept where the particles are distributed similar energy regions on the map. However, the traditional SA-MCL is only suitable for the robots with range sensors which are (quasi-)uniformly placed on the robot. With the ellipse based energy calculation algorithm, this constraint is eliminated, and improved SA-MCL proposed in this study can be utilized for localization problem of all mobile robots equipped with range sensors. The algorithm proposed is validated in simulation and the efficiency of it is demonstrated on ROS.

Original language	English
Title of host publication	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
Editors	Seref Naci Engin, Dogan Onur Arisoy, Muhammed Ali Oz
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538676417
DOIs	https://doi.org/10.1109/CEIT.2018.8751832
Publication status	Published - Oct 2018
Event	6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Turkey Duration: 25 Oct 2018 → 27 Oct 2018

Publication series

Name	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Conference

Conference	6th International Conference on Control Engineering and Information Technology, CEIT 2018
Country/Territory	Turkey
City	Istanbul
Period	25/10/18 → 27/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Automated guided vehicles
Indoor localization
Mobile robots
Particle filter
Robot operating system
SA-MCL

Access to Document

10.1109/CEIT.2018.8751832

Cite this

Yilmaz, A., & Temeltas, H. (2018). An improvement on SA-MCL Algorithm: Ellipse based energy grids. In S. N. Engin, D. O. Arisoy, & M. A. Oz (Eds.), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018 Article 8751832 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CEIT.2018.8751832

Yilmaz, Abdurrahman ; Temeltas, Hakan. / An improvement on SA-MCL Algorithm : Ellipse based energy grids. 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. editor / Seref Naci Engin ; Dogan Onur Arisoy ; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

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title = "An improvement on SA-MCL Algorithm: Ellipse based energy grids",

abstract = "In this paper, an ellipse based energy calculation algorithm is proposed for Self Adaptive Monte Carlo Localization method, abbreviated as SA-MCL. SA-MCL is a localization method based on particle filters and solves position tracking, global localization and kidnapping problems in localization. The SA-MCL is faster since it uses map energy grids concept where the particles are distributed similar energy regions on the map. However, the traditional SA-MCL is only suitable for the robots with range sensors which are (quasi-)uniformly placed on the robot. With the ellipse based energy calculation algorithm, this constraint is eliminated, and improved SA-MCL proposed in this study can be utilized for localization problem of all mobile robots equipped with range sensors. The algorithm proposed is validated in simulation and the efficiency of it is demonstrated on ROS.",

keywords = "Automated guided vehicles, Indoor localization, Mobile robots, Particle filter, Robot operating system, SA-MCL",

author = "Abdurrahman Yilmaz and Hakan Temeltas",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 6th International Conference on Control Engineering and Information Technology, CEIT 2018 ; Conference date: 25-10-2018 Through 27-10-2018",

year = "2018",

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language = "English",

series = "2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Yilmaz, A & Temeltas, H 2018, An improvement on SA-MCL Algorithm: Ellipse based energy grids. in SN Engin, DO Arisoy & MA Oz (eds), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018., 8751832, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Institute of Electrical and Electronics Engineers Inc., 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Istanbul, Turkey, 25/10/18. https://doi.org/10.1109/CEIT.2018.8751832

An improvement on SA-MCL Algorithm: Ellipse based energy grids. / Yilmaz, Abdurrahman ; Temeltas, Hakan.
2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. ed. / Seref Naci Engin; Dogan Onur Arisoy; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. 8751832 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An improvement on SA-MCL Algorithm

T2 - 6th International Conference on Control Engineering and Information Technology, CEIT 2018

AU - Yilmaz, Abdurrahman

AU - Temeltas, Hakan

PY - 2018/10

Y1 - 2018/10

N2 - In this paper, an ellipse based energy calculation algorithm is proposed for Self Adaptive Monte Carlo Localization method, abbreviated as SA-MCL. SA-MCL is a localization method based on particle filters and solves position tracking, global localization and kidnapping problems in localization. The SA-MCL is faster since it uses map energy grids concept where the particles are distributed similar energy regions on the map. However, the traditional SA-MCL is only suitable for the robots with range sensors which are (quasi-)uniformly placed on the robot. With the ellipse based energy calculation algorithm, this constraint is eliminated, and improved SA-MCL proposed in this study can be utilized for localization problem of all mobile robots equipped with range sensors. The algorithm proposed is validated in simulation and the efficiency of it is demonstrated on ROS.

AB - In this paper, an ellipse based energy calculation algorithm is proposed for Self Adaptive Monte Carlo Localization method, abbreviated as SA-MCL. SA-MCL is a localization method based on particle filters and solves position tracking, global localization and kidnapping problems in localization. The SA-MCL is faster since it uses map energy grids concept where the particles are distributed similar energy regions on the map. However, the traditional SA-MCL is only suitable for the robots with range sensors which are (quasi-)uniformly placed on the robot. With the ellipse based energy calculation algorithm, this constraint is eliminated, and improved SA-MCL proposed in this study can be utilized for localization problem of all mobile robots equipped with range sensors. The algorithm proposed is validated in simulation and the efficiency of it is demonstrated on ROS.

KW - Automated guided vehicles

KW - Indoor localization

KW - Mobile robots

KW - Particle filter

KW - Robot operating system

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T3 - 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

BT - 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

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PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Yilmaz A , Temeltas H. An improvement on SA-MCL Algorithm: Ellipse based energy grids. In Engin SN, Arisoy DO, Oz MA, editors, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 8751832. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). doi: 10.1109/CEIT.2018.8751832

An improvement on SA-MCL Algorithm: Ellipse based energy grids

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