A Comparative Study: The Effect of the Perturbation Vector Type in the Differential Evolution Agorithm on the Accuracy of Robot Pose and Heading Estimation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00222511" target="_blank" >RIV/68407700:21230/14:00222511 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1007/s12065-013-0090-2" target="_blank" >http://dx.doi.org/10.1007/s12065-013-0090-2</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s12065-013-0090-2" target="_blank" >10.1007/s12065-013-0090-2</a>

Jazyk výsledku

angličtina

Název v původním jazyce

A Comparative Study: The Effect of the Perturbation Vector Type in the Differential Evolution Agorithm on the Accuracy of Robot Pose and Heading Estimation

Popis výsledku v původním jazyce

Evolutionary algorithms (EAs) belong to a group of classic optimizers these days, and can be used in many application areas. Autonomous mobile robotics is not an exception. EAs are utilized profusely for the purposes of localization and map building of unknown environment?SLAM. This paper concentrates on one particular class of EA, the so called differential evolution (DE). It addresses the problem of selecting a suitable set of parameter values for the DE algorithm applied to the task of continuous robot localization in a known environment under the presence of additive noise in sensorial data. The primary goal of this study is to find at least one type of perturbation vector from a set of known perturbation vector types, suitable to navigate a robotusing 2D laser scanner (2DLS) sensorial system. The basic navigational algorithm used in this study uses a vector representation for both the data and the environment map, which is used as a reference data source for the navigation. Since

Název v anglickém jazyce

A Comparative Study: The Effect of the Perturbation Vector Type in the Differential Evolution Agorithm on the Accuracy of Robot Pose and Heading Estimation

Popis výsledku anglicky

Evolutionary algorithms (EAs) belong to a group of classic optimizers these days, and can be used in many application areas. Autonomous mobile robotics is not an exception. EAs are utilized profusely for the purposes of localization and map building of unknown environment?SLAM. This paper concentrates on one particular class of EA, the so called differential evolution (DE). It addresses the problem of selecting a suitable set of parameter values for the DE algorithm applied to the task of continuous robot localization in a known environment under the presence of additive noise in sensorial data. The primary goal of this study is to find at least one type of perturbation vector from a set of known perturbation vector types, suitable to navigate a robotusing 2D laser scanner (2DLS) sensorial system. The basic navigational algorithm used in this study uses a vector representation for both the data and the environment map, which is used as a reference data source for the navigation. Since

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

—

Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Evolutionary Intelligence

ISSN

1864-5909

e-ISSN

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Svazek periodika

6

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

DE - Spolková republika Německo

Počet stran výsledku

21

Strana od-do

171-191

Kód UT WoS článku

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EID výsledku v databázi Scopus

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