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I. I NTRODUCTION
Nowadays robots are more and more autonomous; one
interesting problem for them is how to localize themselves
based on their knowledge of the environment. One idea is to
use Particle filter [1].
Particle filterings main objective is to track an object of
interest (can be robots, human, vehicles, or any other objects
of interest) whose state is evolving over time, typically with a
non-gaussian and potentially multi-modal probability density
function (pdf) [3]. Since the variable of interest is evolving
over time, particle filter requires an estimation of the state
of the system that changes over time. The estimation is
formulated using sequence of noisy measurement data made
on the system.
Particle filter uses multiple copies of the variable of interest
(which is called particles). Each of the particle is associated
with a certain weight that signifies the quality of that specific
particle. The estimation of the variable of interest is represented by a pdf obtained by the weighted sum of all particles.
The algorithm is recursive and operates in two main phases:
prediction and update. After each iteration, each particle is
modified according to the existing model (prediction stage),
including the addition of noise in order to simulate the effect
of noise on the variable of interest. Then, each particles
weight is re-evaluated based on the latest sensory information
available (update stage). The particles with (infinitesimally)
small weights will be eliminated through resampling process.
In this paper, we discuss and review particle filter, specifically for robotic tracking application. The paper is organized as
following. In section II, we concern about number of institutes
that has been using particle filter for their research projects.
Their application and the particle filters version is explained.
Section III and IV focuses on the basic theory of particle filter
followed by a discussion about the trade-off introduced in
particle filter, namely degeneracy vs loss of diversity problem.
Section V provides an example of particle filter application
for robotic tracking (localization) problem. We continue with
a potential solution for the problem. In section VI, we try
Fig. 4: Localization result of the Humanoid Robot, a) Positioning test, b) Free play test
C. University of Freiburg
1) Detecting Failure on Mobile Robots [Plagemann et al.,
2007][5]:
The goal of the project is to enable a mobile robot to
determine whether the system is running free of faults or to
identify the cause for faulty behavior. The mixed-abstraction
particle filter is proposed as an efficient way of dealing with
potential failures of mobile robots.
Bayesian filter is a framework for calculating belief of a system state based on bayesian rule. This framework comprises
of two main stages: prediction and update. Prediction is done
using the systems transition function. Afterwards, update is
calculated from the measurement. The bayes filter algorithm
is defined as follows:
Prediction:
Z
p(xk |z1:k1 ) = p(xk |xk1 )p(xk1 |z1:k1 )dxk1
(1)
Update:
p(xk |z1:k ) =
(2)
B. Particle Filter
p(xk |z1:k )
Ns
X
(3)
i=1
p(xk |z1:k )
Ns
X
(4)
x
1
K( )
hnx
h
(5)
i=1
Kh (x) =
Efficiency
1.00
0.994
0.986
0.951
0.950
(6)
zk = h(xk ) + vk
(7)
m2 , ...,
i
hM = [m1 ,
i m3 ]
h
Ns
Ns
xik+1 , di i=1 = SIRLocalization xik , di i=1 , uk
for i = 1:Ns do
xik+1 = f (xik , uk ) + wk
zki = h(xik ) + vk
i
zki = RayCasting(x
k
)
2
wki = N zki ; zki , hit
end P
for
Ns
= i=1
wki
for i = 1:Ns do
wki = 1 wk
end for
13:
{Resampling
usingi algorithm listed
h
hin [1]}
i
Ns
Ns
xik+1 , di , i=1 = Resample xik , di i=1 , uk
R EFERENCES
[1] S. Arulampalam, S. Maskel, N. Gordon, and T. Clapp A Tutorial on
Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking
IEEE Transaction on Signal Processing, vol. 50, no. 2, pp. 174-188,
February 2002.
[2] S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics, The MIT
Press,2005.
[3] I. M. Rekleitis,A Particle FIlter Tutorial for Mobile Robot Localization,
Center for Intelligence Machines, McGill University, St., Montreal, Quebec,2004.
[4] D. Fox, S. Thrun, F. Dellaert, W. Burgard, Particle Filters for Mobile
Robot Localization, Sequential Monte Carlo Methods in Practice, pp.
401-428, 2001
[5] C. Plagemann, C. Stachniss, and W. Burgard, Efcient Failure Detection
for Mobile Robots Using Mixed-Abstraction Particle Filters, University
of Freiburg, 2007.
[6] E.M. Sanchez, M.M. Alcobendas, J.F.B. Noguera, G.B. Gilabert, and
J.E.S. Ten, A Reliability-Based Particle Filter for Humanoid Robot SelfLocalization in RoboCup Standard Platform League Sensors (Basel,
Switzerland). Nov 2013; 13(11)14954.
[7] S. Thrun, M. E. Pollack , L. Brown , D. Colbry , C. Orosz , B. Peintner
, S. Ramakrishnan , S. Engberg , J. T. Matthews , J.D. Jacob , C. E.
McCarthy, Pearl: A Mobile Robotic Assistant for the Elderly, 2002
[8] C. Musso, N. Oudjane, and F. LeGland, Improving regularised particle
filters,, in Sequential Monte Carlo Methods in Practice, A. Doucet, J. F.
G. de Freitas, and N. J. Gordon, Eds. New York: Springer-Verlag, 2001
[9] S.J. Sheather, M.C. Jones, A Reliable Data-Based Bandwidth Selection
Method for Kernel Density Estimation, Journal of the Royal Statistical
Society. Series B (Methodolical), Vol. 53, issue 3, pp. 683-390, 1991
[10] B.U. Park, J.S. Marron, Comparison of Data-Driven Bandwidth Selector, Journal of the American Statictical Association, Vol. 85, Issue 409,
March 1990.