| Publication type: |
Article in Proceedings |
| Author: |
A. Burchardt, T. Laue, T. Röfer |
| Editor: |
J. Ruiz-del-Solar, E. Chown, P.G. Ploeger |
| Title: |
Optimizing Particle Filter Parameters for Self-Localization |
| Book / Collection title: |
RoboCup 2010: Robot Soccer World Cup XIV |
| Volume: |
6556 |
| Page(s): |
145 – 156 |
| Series: |
Lecture Notes in Artificial Intelligence |
| Year published: |
2011 |
| Publisher: |
Springer, Heidelberg |
| Abstract: |
Particle filter-based approaches have proven to be capable of efficiently solving the self-localization problem in RoboCup scenarios and are therefore applied by many participating teams. Nevertheless, they require a proper parametrization - for sensor models and dynamic models as well as for the configuration of the algorithm - to operate reliably. In this paper, we present an approach for optimizing all relevant parameters by using the Particle Swarm Optimization algorithm. The approach has been applied to the self-localization component of a Standard Platform League team and shown to be capable of finding a parameter set that leads to more precise position estimates than the previously used hand-tuned parametrization. |
| PDF Version: |
http://www.informatik.uni-bremen.de/kogrob/papers/RC-Burchardt-etal-11.pdf |
| Status: |
Reviewed |
| Last updated: |
07. 09. 2011 |
