Application of Improved Particle Filter in WSN-aided Robot Localization

摘要

An improved Particle Filter algorithm is proposed for WSN-aided robot localization.This algorithm introduces node reliability and proposes its expression to realize information fusion among nodes.After having computed node reliability,sensor nodes with high reliability are selected to aid robot localization,and the effect on updating particles is ascertained according to their reliability.Furthermore,a novel simulation system for WSN-Robot based on USARSim is developed,which is used to test our algorithm in this paper.The simulation result shows the good performance of the proposed algorithm in precision of robot localization,the fast convergence speed of the particle filter,and the conformity of the simulation system to the requirement of WSN-robot system research.