NDLI: Mobile Robot Global Localization using Imperialist Competitive Algorithm

Content Provider	IEEE Xplore Digital Library
Author	Tamimi, A. Sadjadian, H. Omranpour, H.
Copyright Year	2010
Description	Author affiliation: School of Electrical and computer Engineering, Qazvin Islamic Azad University, Iran (Tamimi, A.) \|\| School of Electrical Engineering, Iran University of Science & Technology, Tehran, Iran (Sadjadian, H.) \|\| School of Computer Engineering, AmirKabir University of Technology, Tehran, Iran (Omranpour, H.)
Abstract	the most important factor for a mobile robot is navigation. Success in localization is one of the four requirements of navigation which includes perception, localization, cognition and motion control. Localization is usually done in two ways: global localization problem and position tracking problem. In the global localization problem the robot does not know its initial position and it has to localize itself. In the position tracking problem for a robot given its initial position, the goal is to keep track of the position while the robot is navigating through the environment. In this paper we propose a method using an evolutionary algorithm for mobile robots' global localization. We use Imperialist Competitive Algorithm (ICA) to achieve our goal. The method that is used for global localization works in two steps: First we estimate X and Y and then we find the best direction for X and Y which we estimated in previous step. The results which have been demonstrated in the experimental results section show that our algorithm works very accurate in all of the positions that we located the robot for our tests with acceptable number of iterations.
File Size	1160877
File Format	PDF
ISBN	9781424465392
ISSN	21547491
e-ISBN	9781424465422
DOI	10.1109/ICACTE.2010.5579468
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Flowcharts Global Localization Tracking Navigation Mobile Robots Imperialist Competitive Algorithm Filtering algorithms Position measurement Educational institutions Evolutionary Algorithms Position Tracking
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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