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

^*Bu çalışma için yazışmadan sorumlu yazar

Kontrol ve Otomasyon Mühendisliği Bölümü

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

1 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
Editörler	Seref Naci Engin, Dogan Onur Arisoy, Muhammed Ali Oz
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
ISBN (Elektronik)	9781538676417
DOI'lar	https://doi.org/10.1109/CEIT.2018.8751832
Yayın durumu	Yayınlandı - Eki 2018
Etkinlik	6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Türkiye Süre: 25 Eki 2018 → 27 Eki 2018

Yayın serisi

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

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	6th International Conference on Control Engineering and Information Technology, CEIT 2018
Ülke/Bölge	Türkiye
Şehir	Istanbul
Periyot	25/10/18 → 27/10/18

Bibliyografik not

Publisher Copyright:
© 2018 IEEE.

Belgeye Erişim

10.1109/CEIT.2018.8751832

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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 Makale 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. editör / 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).

@inproceedings{814b55ebcb6c44d7bfea14f339a36f02,

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",

month = oct,

doi = "10.1109/CEIT.2018.8751832",

language = "English",

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

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

editor = "Engin, \{Seref Naci\} and Arisoy, \{Dogan Onur\} and Oz, \{Muhammed Ali\}",

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

address = "United States",

}

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, Türkiye, 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).

Araştırma çıktısı: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › Hakem

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

KW - SA-MCL

UR - https://www.scopus.com/pages/publications/85069148449

U2 - 10.1109/CEIT.2018.8751832

DO - 10.1109/CEIT.2018.8751832

M3 - Conference contribution

AN - SCOPUS:85069148449

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

A2 - Engin, Seref Naci

A2 - Arisoy, Dogan Onur

A2 - Oz, Muhammed Ali

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 25 October 2018 through 27 October 2018

ER -

Yilmaz A , Temeltas H. An improvement on SA-MCL Algorithm: Ellipse based energy grids. In Engin SN, Arisoy DO, Oz MA, editörler, 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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Yayın serisi

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Belgeye Erişim

Diğer Dosyalar ve Linkler

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