Development of a new technique in ROS for mobile robots localization in known-based 2D environments
Other Title(s)
تطوير تقنية جديدة في نظام تشغيل الروبوت (ROS) لتموضع الروبوتات المتحركة في البيئات ثنائية الأبعاد المعلومة
Joint Authors
Hatim, Iyad
Khalil, Muhammad Ali al-Shaykh
Source
Tishreen University Journal for Research and Scientific Studies : Engineering Sciences Series
Issue
Vol. 43, Issue 6 (31 Dec. 2021), pp.119-137, 19 p.
Publisher
Publication Date
2021-12-31
Country of Publication
Syria
No. of Pages
19
Main Subjects
Electronic engineering
Mechanical Engineering
Abstract EN
Adaptive Monte Carlo Localization (amcl) is the only standard package for mobile robots localization in Robot Operating System (ROS).
In this research, a new particle filter based localization technique named general Monte Carlo Localization (gmcl) was developed by adding three particle filter algorithms to amcl in order to improve its performance, so the new versions of ROS could be better invested in systems that depend on the knowledge of the robot’s pose.
In addition, we compared amcl and gmcl in terms of computational complexity and the ability of addressing the pose-estimation problem in a differential drive mobile robot equipped with a LiDAR sensor.
The results showed that the new proposed technique outperformed amcl in the accuracy of estimating the pose when compared to the same maximal computational workload.
gmcl was able to reduce the pose-error in pose tracking and also able to increase the success rate of robot’s pose detection in the two problems of global localization and kidnapped-robot.
American Psychological Association (APA)
Hatim, Iyad& Khalil, Muhammad Ali al-Shaykh. 2021. Development of a new technique in ROS for mobile robots localization in known-based 2D environments. Tishreen University Journal for Research and Scientific Studies : Engineering Sciences Series،Vol. 43, no. 6, pp.119-137.
https://search.emarefa.net/detail/BIM-1419649
Modern Language Association (MLA)
Hatim, Iyad& Khalil, Muhammad Ali al-Shaykh. Development of a new technique in ROS for mobile robots localization in known-based 2D environments. Tishreen University Journal for Research and Scientific Studies : Engineering Sciences Series Vol. 43, no. 6 (2021), pp.119-137.
https://search.emarefa.net/detail/BIM-1419649
American Medical Association (AMA)
Hatim, Iyad& Khalil, Muhammad Ali al-Shaykh. Development of a new technique in ROS for mobile robots localization in known-based 2D environments. Tishreen University Journal for Research and Scientific Studies : Engineering Sciences Series. 2021. Vol. 43, no. 6, pp.119-137.
https://search.emarefa.net/detail/BIM-1419649
Data Type
Journal Articles
Language
English
Notes
Record ID
BIM-1419649