METHOD AND APPARATUS OF POSE ESTIMATION IN A MOBILE ROBOT BASED ON PARTICLE FILTER

摘要

A method for pose estimation of a mobile robot based on a particle filter is provided to estimate a pose of the mobile robot accurately and to reduce calculating time and a location error by using a grid-based SLAM algorithm based on a particle filter and performing a hill climbing method considering a direction angle of the mobile robot. A method for pose estimation of a mobile robot based on a particle filter comprises the steps of: detecting a pose variation of the mobile robot, and calculating a pose of a present particle pose by applying the detected pose variation to a previous particle(S100); calculating pose probability estimation and weight of the present particle from range data and map information acquired from a sensor(S120); resampling the present particle based on the calculated weight(S130); and adjusting the weight considering an error of the sensor(S140). Renewing the pose of the present particle to an increasing direction of a pose probability based on a hill climbing method(S110) can be added to the pose variation detecting step.