Coevolution Based Adaptive Monte Carlo Localization (CEAMCL)

TL;DR

CEAMCL is an innovative adaptive Monte Carlo localization method that employs ecological coevolution principles to maintain multiple hypotheses, adapt sample sizes, and improve localization accuracy in symmetric environments.

Contribution

The paper introduces CEAMCL, a novel localization algorithm combining coevolution mechanisms and adaptive sampling to enhance robustness and precision in robot localization.

Findings

Successfully tracks multiple hypotheses in symmetric environments.

Adjusts sample size dynamically based on pose uncertainty.

Proves efficiency through experimental validation.

Abstract

An adaptive Monte Carlo localization algorithm based on coevolution mechanism of ecological species is proposed. Samples are clustered into species, each of which represents a hypothesis of the robots pose. Since the coevolution between the species ensures that the multiple distinct hypotheses can be tracked stably, the problem of premature convergence when using MCL in highly symmetric environments can be solved. And the sample size can be adjusted adaptively over time according to the uncertainty of the robots pose by using the population growth model. In addition, by using the crossover and mutation operators in evolutionary computation, intra-species evolution can drive the samples move towards the regions where the desired posterior density is large. So a small size of samples can represent the desired density well enough to make precise localization. The new algorithm is termed coevolution based adaptive Monte Carlo localization (CEAMCL). Experiments have been carried out to prove the efficiency of the new localization algorithm.