Mobile Robot Localization Based on the Novel Leader-Based Bat Algorithm
This work proposes a new approach to the well-known method bat algorithm for solving the mobile robots global localization problem. The proposed method is leader-based bat algorithm (LBBA). The LBBA uses a small number of better micro-bats as leaders to influence the colony in the search for the bes...
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| Published in | Journal of control, automation & electrical systems Vol. 30; no. 3; pp. 337 - 346 |
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| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
New York
Springer US
15.06.2019
Springer Nature B.V |
| Subjects | |
| Online Access | Get full text |
| ISSN | 2195-3880 2195-3899 |
| DOI | 10.1007/s40313-019-00453-2 |
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| Abstract | This work proposes a new approach to the well-known method bat algorithm for solving the mobile robots global localization problem. The proposed method is leader-based bat algorithm (LBBA). The LBBA uses a small number of better micro-bats as leaders to influence the colony in the search for the best position, dealing satisfactorily with ambiguities during the localization process. The tests covered different scenarios aiming at comparing the proposed algorithm with other methods, such as the standard BA, the particle swarm optimization and particle filter. The results outperformed the compared methods, presenting a fast response and errors below the intended tolerance. The algorithm was tested in the robot kidnapping scenario and shows fast recovery in both simulation and in a real environment. In addition, the proposed technique showed 21% lower average error when compared with an algorithm that presents a variable quantity of particles, i.e. the adaptive Monte Carlo localization algorithm. |
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| AbstractList | This work proposes a new approach to the well-known method bat algorithm for solving the mobile robots global localization problem. The proposed method is leader-based bat algorithm (LBBA). The LBBA uses a small number of better micro-bats as leaders to influence the colony in the search for the best position, dealing satisfactorily with ambiguities during the localization process. The tests covered different scenarios aiming at comparing the proposed algorithm with other methods, such as the standard BA, the particle swarm optimization and particle filter. The results outperformed the compared methods, presenting a fast response and errors below the intended tolerance. The algorithm was tested in the robot kidnapping scenario and shows fast recovery in both simulation and in a real environment. In addition, the proposed technique showed 21% lower average error when compared with an algorithm that presents a variable quantity of particles, i.e. the adaptive Monte Carlo localization algorithm. |
| Author | Fernandes, Daniel de A. da Silva, Ivo C. Neto, Wolmar A. Marcato, André L. M. Pinto, Milena F. |
| Author_xml | – sequence: 1 givenname: Wolmar A. surname: Neto fullname: Neto, Wolmar A. organization: Faculty of Engineering, Federal University of Juiz de Fora – sequence: 2 givenname: Milena F. surname: Pinto fullname: Pinto, Milena F. organization: Faculty of Engineering, Federal University of Juiz de Fora – sequence: 3 givenname: André L. M. orcidid: 0000-0001-9171-3089 surname: Marcato fullname: Marcato, André L. M. email: andre.marcato@ufjf.edu.br organization: Faculty of Engineering, Federal University of Juiz de Fora – sequence: 4 givenname: Ivo C. surname: da Silva fullname: da Silva, Ivo C. organization: Faculty of Engineering, Federal University of Juiz de Fora – sequence: 5 givenname: Daniel de A. surname: Fernandes fullname: Fernandes, Daniel de A. organization: Faculty of Engineering, Federal University of Juiz de Fora |
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| Keywords | Localization algorithm Bat algorithm Mobile robots Evolutionary computation |
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SuárezPIglesiasADel SerJBat algorithm for coordinated exploration in swarm roboticsHarmony search algorithm2017SingaporeSpringer13414410.1007/978-981-10-3728-3_14 MengXBGaoXZLiuYZhangHA novel bat algorithm with habitat selection and doppler effect in echoes for optimizationExpert Systems with Applications201542176350636410.1016/j.eswa.2015.04.026 Mohd NawiNRehman GillaniSMKhanAChiromaHHerawanTA modified bat algorithm based on Gaussian distribution for solving optimization problemJournal of Computational and Theoretical Nanoscience20151370671410.1166/jctn.2016.4864 S Mirjalili (453_CR12) 2014; 25 X Yang (453_CR25) 2012; 29 XB Meng (453_CR11) 2015; 42 M Dorigo (453_CR4) 1996; 26 S Thrun (453_CR21) 2001; 128 K Motonaka (453_CR14) 2013; 24 453_CR9 453_CR10 453_CR7 453_CR6 S Thrun (453_CR20) 2005 453_CR5 S Thrun (453_CR19) 2002; 45 453_CR1 NE Pears (453_CR16) 2001; 15 XS Yang (453_CR24) 2010 453_CR17 P Suárez (453_CR18) 2017 X Wang (453_CR22) 2013 453_CR23 TT Nguyen (453_CR15) 2014 A Kaveh (453_CR8) 2010; 213 PJ Costa (453_CR2) 2016; 11 JMT Sanguino de (453_CR3) 2016; 21 N Mohd Nawi (453_CR13) 2015; 13 S Ylmaz (453_CR26) 2014; 20 |
| References_xml | – reference: MotonakaKMaeyamaSWatanabeKPath planning and a mobile robot navigation method based on a human frequency mapJournal of Control, Automation and Electrical Systems2013241879610.1007/s40313-013-0011-8 – reference: KavehATalatahariSA novel heuristic optimization method: Charged system searchActa Mechanica2010213326728910.1007/s00707-009-0270-41397.65094 – reference: MengXBGaoXZLiuYZhangHA novel bat algorithm with habitat selection and doppler effect in echoes for optimizationExpert Systems with Applications201542176350636410.1016/j.eswa.2015.04.026 – reference: Gandomi, A.H., & Yang, X. S. (2014). Chaotic bat algorithm. Journal of Computational Science, 5(2), 224–232. https://doi.org/10.1016/j.jocs.2013.10.002. http://www.sciencedirect.com/science/article/pii/S1877750313001099. Empowering Science through Computing + BioInspired Computing. – reference: Mohd NawiNRehman GillaniSMKhanAChiromaHHerawanTA modified bat algorithm based on Gaussian distribution for solving optimization problemJournal of Computational and Theoretical Nanoscience20151370671410.1166/jctn.2016.4864 – reference: Woo, J., Kim, Y.J., on Lee, J., & Lim, M.T. (2006). Localization of mobile robot using Particle Filter. In: Proceedings of the IEEE international joint conference SICE-ICASE 2006 (pp. 3031–3034). Busan. – reference: SuárezPIglesiasADel SerJBat algorithm for coordinated exploration in swarm roboticsHarmony search algorithm2017SingaporeSpringer13414410.1007/978-981-10-3728-3_14 – reference: Kostiv, O., Demydov, I., Makarenko, A., & Tverdohlib, M. (2018). Metaheuristics in cloud platform traffic engineering. In: 2018 14th International conference on advanced trends in radioelecrtronics, telecommunications and computer engineering (TCSET) (pp. 533–537). https://doi.org/10.1109/TCSET.2018.8336258. – reference: Brossard, M., Bonnabel, S., & Condomines, J.P. (2017). Unscented Kalman filtering on lie groups. In: 2017 IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE (pp. 2485–2491). – reference: Eberhart, & Shi, Y. (2001). Particle swarm optimization: Developments, applications and resources. In: Proceedings of the 2001 congress on evolutionary computation (IEEE Cat. No.01TH8546) (Vol. 1, pp. 81–86). https://doi.org/10.1109/CEC.2001.934374. – reference: YlmazSKucuksilleEUCengizYModified bat algorithmElektronika ir Elektrotechnika2014207178 – reference: WangXWangWWangYHuangDSJoKHZhouYQHanKAn adaptive bat algorithmIntelligent computing theories and technology2013BerlinSpringer21622310.1007/978-3-642-39482-9_25 – reference: Seow, Y., Miyagusuku, R., Yamashita, A., & Asama, H. (2017). Detecting and solving the kidnapped robot problem using laser range finder and wifi signal. In: 2017 IEEE international conference on real-time computing and robotics (RCAR) (pp. 303–308). https://doi.org/10.1109/RCAR.2017.8311878. – reference: ThrunSProbabilistic roboticsCommunications of the ACM—Robots: Intelligence, Versatility, Adaptivity20024535257 – reference: YangXGandomiAHBat algorithm: A novel approach for global engineering optimizationEngineering Computations201229546448310.1108/02644401211235834 – reference: NguyenTTPanJSDaoTKKuoMYHorngMFPanJSSnaselVCorchadoESAbrahamAWangSLHybrid bat algorithm with artificial bee colonyIntelligent data analysis and its applications2014ChamSpringer4555 – reference: YangXSGonzálezJRPeltaDACruzCTerrazasGKrasnogorNA new metaheuristic bat-inspired algorithm. Chap. 6Nature Inspired Cooperative Strategies for Optimization (NICSO 2010)2010BerlinSpringer657410.1007/978-3-642-12538-6_6 – reference: PearsNEMobile robot tracking of pre-planned pathsAdvanced Robotics20011519710710.1163/156855301750095596 – reference: ThrunSFoxDBurgardWDellaertFRobust Monte Carlo localization for mobile robotsArtificial Intelligence20011281–29914110.1016/S0004-3702(01)00069-80971.68162 – reference: CostaPJMoreiraNCamposDGonalvesJLimaJCostaPLLocalization and navigation of an omnidirectional mobile robot: The robot@factory case studyIEEE Revista Iberoamericana de Tecnologias del Aprendizaje20161111910.1109/RITA.2016.2518420 – reference: de SanguinoJMTGómezFPToward simple strategy for optimal tracking and localization of robots with adaptive particle filteringIEEE/ASME Transactions on Mechatronics20162162793280410.1109/TMECH.2016.2531629 – reference: ThrunSBurgardWFoxDProbabilistic robotics2005CambridgeMIT press1081.68703 – reference: Furtado, L., Neto, W.A., Menezes, A., da Silva Junior, I.C., Olivi, L.R., & Marcato, A.L.M. (2013). Bat search algorithm aplicado na localização de robôs móveis (in portuguese). In: Proceedings of the 12th Braziliam symposium on intelligent automation (SBAI) 2015 (pp. 1248–1253). Natal. – reference: Lee, Y.C., Park, B., & Park, S. (2014) Coarse-to-fine robot localization method using radio fingerprint and Particle Filter. In: Proceedings of the IEEE international conference on automation science and engineering (CASE) 2014 (pp. 290–296). Gothenburg. – reference: DorigoMManiezzoVColorniAThe ant system: Optimization by a colony of cooperating agentsIEEE Transactions on Systems, Man, and Cybernectics—Part B1996261294110.1109/3477.484436 – reference: MirjaliliSMirjaliliSMYangXSBinary bat algorithmNeural Computing and Applications201425366368110.1007/s00521-013-1525-5 – ident: 453_CR6 – volume-title: Probabilistic robotics year: 2005 ident: 453_CR20 – volume: 45 start-page: 52 issue: 3 year: 2002 ident: 453_CR19 publication-title: Communications of the ACM—Robots: Intelligence, Versatility, Adaptivity doi: 10.1145/504729.504754 – start-page: 45 volume-title: Intelligent data analysis and its applications year: 2014 ident: 453_CR15 – volume: 13 start-page: 706 year: 2015 ident: 453_CR13 publication-title: Journal of Computational and Theoretical Nanoscience doi: 10.1166/jctn.2016.4864 – start-page: 216 volume-title: Intelligent computing theories and technology year: 2013 ident: 453_CR22 doi: 10.1007/978-3-642-39482-9_25 – volume: 42 start-page: 6350 issue: 17 year: 2015 ident: 453_CR11 publication-title: Expert Systems with Applications doi: 10.1016/j.eswa.2015.04.026 – volume: 213 start-page: 267 issue: 3 year: 2010 ident: 453_CR8 publication-title: Acta Mechanica doi: 10.1007/s00707-009-0270-4 – ident: 453_CR10 doi: 10.1109/CoASE.2014.6899340 – volume: 128 start-page: 99 issue: 1–2 year: 2001 ident: 453_CR21 publication-title: Artificial Intelligence doi: 10.1016/S0004-3702(01)00069-8 – volume: 29 start-page: 464 issue: 5 year: 2012 ident: 453_CR25 publication-title: Engineering Computations doi: 10.1108/02644401211235834 – ident: 453_CR1 – ident: 453_CR17 doi: 10.1109/RCAR.2017.8311878 – volume: 21 start-page: 2793 issue: 6 year: 2016 ident: 453_CR3 publication-title: IEEE/ASME Transactions on Mechatronics doi: 10.1109/TMECH.2016.2531629 – volume: 26 start-page: 29 issue: 1 year: 1996 ident: 453_CR4 publication-title: IEEE Transactions on Systems, Man, and Cybernectics—Part B doi: 10.1109/3477.484436 – volume: 25 start-page: 663 issue: 3 year: 2014 ident: 453_CR12 publication-title: Neural Computing and Applications doi: 10.1007/s00521-013-1525-5 – volume: 11 start-page: 1 issue: 1 year: 2016 ident: 453_CR2 publication-title: IEEE Revista Iberoamericana de Tecnologias del Aprendizaje doi: 10.1109/RITA.2016.2518420 – start-page: 134 volume-title: Harmony search algorithm year: 2017 ident: 453_CR18 doi: 10.1007/978-981-10-3728-3_14 – volume: 15 start-page: 97 issue: 1 year: 2001 ident: 453_CR16 publication-title: Advanced Robotics doi: 10.1163/156855301750095596 – volume: 24 start-page: 87 issue: 1 year: 2013 ident: 453_CR14 publication-title: Journal of Control, Automation and Electrical Systems doi: 10.1007/s40313-013-0011-8 – ident: 453_CR9 doi: 10.1109/TCSET.2018.8336258 – volume: 20 start-page: 71 year: 2014 ident: 453_CR26 publication-title: Elektronika ir Elektrotechnika – ident: 453_CR5 doi: 10.1109/CEC.2001.934374 – start-page: 65 volume-title: Nature Inspired Cooperative Strategies for Optimization (NICSO 2010) year: 2010 ident: 453_CR24 doi: 10.1007/978-3-642-12538-6_6 – ident: 453_CR23 – ident: 453_CR7 doi: 10.1016/j.jocs.2013.10.002 |
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| SubjectTerms | Adaptive algorithms Algorithms Bats Computer simulation Control Control and Systems Theory Electrical Engineering Engineering Kidnapping Localization Mechatronics Particle swarm optimization Robotics Robotics and Automation Robots |
| Title | Mobile Robot Localization Based on the Novel Leader-Based Bat Algorithm |
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