| Title: | GS3-5 Improvement of Computational Efficiency of UPF by Automatic Adjustment of the Number of Particles |
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| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 463-466 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.GS3-5 |
| Author(s): | Kenta Hidaka, Takuo Suzuki, Kunikazu Kobayashi |
| Publication Date: | January 29, 2016 |
| Keywords: | RoboCup, Self-localization, Unscented particle filter, Kalman filter, Particle |
| Abstract: | In RoboCup Standard Platform League (SPL), the method using unscented particle filter (UPF) has been proposed for self-localization. The UPF resolves a problem of particle filter which cannot be sampled appropriately when the likelihood is too high or low. This filter can estimate accurate position when the more number of particles is. However, the more, the more computation time is needed. In the present paper, we propose an automatic adjustment method for the number of particles in UPF. The proposed method uses three kinds of feature values with respect to particles, i.e. centroid, standard deviation, and weight. Through computer simulations, we confirmed the improvement of computational efficiency of UPF. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS3-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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