期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：4
DOI：10.1177/1729881417717469
语种：English
出版社：SAGE Publications
摘要：This article proposes a new method to detect the kidnapped robot problem event in Monte Carlo localization. The method is designed in such a manner that it can provide accurate detection across all time instances, whether the robot can still recognize part of the environment or is totally lost after kidnapping. The proposed method uses the sensor reading of the robot to determine if robot’s displacement at particular time instance is considered a natural displacement or not. A series of simulations are designed to measure the accuracy of detection and how it compares to other methods. The simulations show that the proposed method outperforms the methods of detection based on the weight of particles.
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