The theoretical research on localization using improved particle filter for mine rescue robot in unknown underground space

• 来源期刊: 煤炭学报（英文版）
• 年，卷（期）: 2008,（3）
• 页码范围: 497-500
• 页数: 4页
• 语种: 英文

摘要

The localization for mine rescue robot in unknown space of coal mine emer-gency was researched, basing on the requirement of mine rescue robot localization whichenters the scene of the coal mine accident, unknown circumstance, the unstructured,non-Gaussian and nonlinear work-space for robot works. The localization using particlefilter was proposed to which is applied in mine rescue robot in unknown under-groundspace. Meanwhile, focusing on severe particle sample degeneracy in the primary particlefilter, an improved particle filter was proposed to reinforce the stability of particle filter. Be-ing compared with localization using extended Kalman filter through simulation experiment, the localization using particle filter is proved to have more locating accuracy in unknownunderground space and better computational real-time ability, which solves the pre-local-ization problem of robot underground.