We present an implementation of particle filter algorithm for global localization and kidnap recovery of mobile robot. Firstly, we propose an algorithm for efficient particle initialization using sonar line features. And then, the average likelihood and entropy of normalized weights are used as a quality measure of pose estimation. Finally, we propose an active kidnap recovery by adding new particle set. New and independent particle set can be initialized by monitoring two quality measures. Added particle set can re-estimate the pose of kidnapped robot. Experimental results demonstrate the capability of our global localization and kidnap recovery algorithm.

• 이정석 | Jung-Suk Lee
• 이경민 | Kyoungmin Lee
• 안성환 | Sunghwan Ahn
• 최진우 | Jinwoo Choi
• 정완균 | Wan Kyun Chung