Position estimation in mobile robots using particle filters

Authors

  • Juan Diego Cárdenas Cartagena Universidad EIA. Grupo GIBEC
  • Víctor Hugo Jaramillo Velásquez Universidad EIA

DOI:

https://doi.org/10.33571/rpolitec.v13n25a8

Keywords:

Mobile robot, particle filter, Monte Carlo methods, stochastic filter, Bayesian filter

Abstract

This works presents an approach to solve the problem of controlling differential motion mobile robots with odometry techniques, trajectory tracking algorithms based on A*, control by pure persecution and state estimation using particles filters to calculate the robot location. The paper is accompanied by a series of simulation results that verify the proper functioning of the proposed methodology.

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Author Biographies

Juan Diego Cárdenas Cartagena, Universidad EIA. Grupo GIBEC

Ingeniero Mecatrónico. Grupo GIBEC, correo electrónico: juan.cardenas@eia.edu.co.

Universidad EIA, km 2 + 200 Vía al Aeropuerto José María Córdova Envigado, Colombia. Zip: 055428. 

Víctor Hugo Jaramillo Velásquez, Universidad EIA

Ph.D. en Ingeniería Mecatrónica. Grupo MAPA, correo electrónico: victor.jaramillo92@eia.edu.co.

Universidad EIA, km 2 + 200 Vía al Aeropuerto José María Córdova Envigado, Colombia. Zip: 055428. 

References

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Published

2017-09-08

How to Cite

Cárdenas Cartagena, J. D., & Jaramillo Velásquez, V. H. (2017). Position estimation in mobile robots using particle filters. Revista Politécnica, 13(25), 103–113. https://doi.org/10.33571/rpolitec.v13n25a8

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