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刘馨，裴海龙，李坚强

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E-mail: liuxin@scut.edu.cn

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Liu Xin, Pei Hailong, Li Jianqiang

South China University of Technology, Guangzhou, China 510640, P. R. China

E-mail:liuxin@scut.edu.cn

Abstract: Effective prediction on the states of moving objects paves the way for successful motion planning. In this paper,

Particle Filter is used to predict the robot position and velocity and the experimental results of target prediction in robot path

planning are presented to verify its performance. Particle filter can also be combined with the system overall strategies to plan its

motion and improve the system performance.

Key Words: Particle Filter, Mobile robot

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dionr on Aemrpace and Electmnii: Systems, 1997, 33

338-343.

[4] ZHOU S, KMEGER V, CHELLAPPA R. Face recognition

from video: a condensation approach [J]. Fifth IEEE

lntrrnarionul Conference on Automatic Fuce and Cesrure

Recognition, 2002

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[5] GILKS W R , Bemini C~. Fallowing a moving target - monte

earlo inference for dynamic bayesian models [J]. Journal of

Royal Statistical Society, 2001, 63:127-146.

[6] AYKMYD R. Bayesian estimation for hamogencous and

ihomogeneous gaussian random gelds [J]. IEEE Tranractions

on Pattern Analysis and Machine Intelligence, 1998,

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[7] LOY G, FLETCHER L , N. Apostoloff, et al. An adaptive

fusion architecture for target tracking [J]. Proc. 5th IEEE Int.

Conf. Autom. Face and Gesture Recog., 2002:248-253.

5*b+ :0#,5% [8] KWOLEK B.Person following and mobile camera localiza-

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[12] CARPENTER J, CLIFFORD P, FEARNHEAD P.Improved

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