Abstract The research of robot localization aims at accuracy, simplicity and robustness. This article improves the performance of particle filters in robot localization via the utilization of novel adaptive technique. The proposed algorithm introduces probability retracing to initialize particle sets, uses consecutive window filtering to update particle sets, and refreshes the size of particle set according to the estimation state. Extensive simulations show that the proposed algorithm is much more effective than the traditional particle filters. The proposed algorithm successfully solves the nonlinear, non-Gaussian state estimation problem of robot localization.
Received: 21 December 2004
Published: 20 November 2005