Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

693
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
693
Root-Locus Method01:19

Root-Locus Method

470
A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
470
Mechanistic Models: Compartment Models in Algorithms for Numerical Problem Solving01:29

Mechanistic Models: Compartment Models in Algorithms for Numerical Problem Solving

282
Mechanistic models play a crucial role in algorithms for numerical problem-solving, particularly in nonlinear mixed effects modeling (NMEM). These models aim to minimize specific objective functions by evaluating various parameter estimates, leading to the development of systematic algorithms. In some cases, linearization techniques approximate the model using linear equations.
In individual population analyses, different algorithms are employed, such as Cauchy's method, which uses a...
282
Centroid of a Body: Problem Solving01:03

Centroid of a Body: Problem Solving

1.8K
The centroid of a body is a crucial concept in engineering and physics. Finding the centroid of a body can help determine its stability, its balance point, and even its design. In this context, consider a thin wire bent in the form of a quarter circular arc. Polar coordinates are used to calculate the centroid. The wire is first divided into small differential elements of a length equal to the radius multiplied by the differential angle.
The x-coordinates and y-coordinates of each element's...
1.8K
Reduced Mass Coordinates: Isolated Two-body Problem01:12

Reduced Mass Coordinates: Isolated Two-body Problem

2.3K
In classical mechanics, the two-body problem is one of the fundamental problems describing the motion of two interacting bodies under gravity or any other central force. When considering the motion of two bodies, one of the most important concepts is the reduced mass coordinates, a quantity that allows the two-body problem to be solved like a single-body problem. In these circumstances, it is assumed that a single body with reduced mass revolves around another body fixed in a position with an...
2.3K
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

1.3K
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
1.3K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Editorial: AI and robotics for the smart hospitals of the future.

Health informatics journal·2026
Same author

One-Finger Gripper for Microobjects to Submillimeter-Sized Objects Based on Temperatures of Dew and Freezing Points.

Micromachines·2026
Same author

Technology-mediated screening interviews for youth mental health: Content validation, randomized controlled trial, and expert evaluation.

PLOS digital health·2026
Same author

Pain Cues in People With Dementia: Scoping Review.

JMIR mental health·2025
Same author

Feasibility of a computerized clinical decision support system delivered via a socially assistive robot during grand rounds: A pilot study.

Digital health·2025
Same author

Decoding anxiety: A scoping review of observable cues.

Digital health·2024
Same journal

RETRACTED: Zhang et al. A Novel Framework for Reconstruction and Imaging of Target Scattering Centers via Wide-Angle Incidence in Radar Networks. <i>Sensors</i> 2025, <i>25</i>, 6802.

Sensors (Basel, Switzerland)·2026
Same journal

Enhancing Unsupervised Multi-Source Domain Adaptation for Person Re-Identification via Mixture of Experts and Graph-Based Relation.

Sensors (Basel, Switzerland)·2026
Same journal

Development of an Instrumented Glove for Palmar Pressure Assessment in Kayakers.

Sensors (Basel, Switzerland)·2026
Same journal

Development and Experimental Validation of an Autonomous IoT-Based Monitoring System for Real-Time Water Quality Assessment in the Amazon River.

Sensors (Basel, Switzerland)·2026
Same journal

Semi-Supervised Adversarial Learning Framework for Controller Area Network Bus Intrusion Detection.

Sensors (Basel, Switzerland)·2026
Same journal

Smart Optimization Method for Safety Signs in Innovative Manufacturing Environments Integrating Industrial Field IoT Sensors and Knowledge Graphs.

Sensors (Basel, Switzerland)·2026
See all related articles

Related Experiment Video

Updated: Jan 13, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

12.1K

Mobile Robot Localization Based on the PSO Algorithm with Local Minima Avoiding the Fitness Function.

Božidar Bratina1, Dušan Fister1, Suzana Uran1

  • 1Faculty of Electrical Engineering and Computer Science, University of Maribor, Koroška cesta 46, SI-2000 Maribor, Slovenia.

Sensors (Basel, Switzerland)
|October 29, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a novel Particle Swarm Optimization with an Avoiding Local Minima (PSO-ALM) algorithm for robust mobile robot localization. PSO-ALM enhances accuracy by preventing localization errors, outperforming other methods in real-world experiments.

Keywords:
PSO algorithmavoiding the global minimamobile robot localization

More Related Videos

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect
09:00

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

15.1K

Related Experiment Videos

Last Updated: Jan 13, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

12.1K
Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect
09:00

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

15.1K

Area of Science:

  • Robotics
  • Artificial Intelligence
  • Optimization Algorithms

Background:

  • Accurate mobile robot localization is crucial for navigation.
  • Existing methods like odometry and standard optimization algorithms can suffer from errors due to environmental disturbances and local minima.
  • Semi-humanoid mobile robot Pepper's localization needs robust solutions for real-world applications.

Purpose of the Study:

  • To propose a novel Particle Swarm Optimization with an Avoiding Local Minima (PSO-ALM) algorithm for robust mobile robot localization.
  • To enhance localization accuracy by preventing the algorithm from getting trapped in local minima.
  • To validate the proposed method through simulations and real-world experiments against various benchmark algorithms.

Main Methods:

  • Development of a novel fitness function for PSO-ALM that includes integrity checks between consecutive solutions.
  • Implementation of the PSO-ALM algorithm for the localization of the Pepper mobile robot using LIDAR data.
  • Comparative analysis against standard Particle Swarm Optimization (PSO), Odometry, Genetic Algorithm (GA), GA-ALM, Golden Eagle Optimization (GEO), and GEO-ALM.

Main Results:

  • The PSO-ALM algorithm demonstrated robust performance against disturbance perturbations in LIDAR measurements.
  • PSO-ALM significantly improved localization accuracy compared to standard PSO and provided comparable or better results than GA and GEO algorithms, especially after initial travel.
  • The Avoiding Local Minima (ALM) extension proved effective in preventing optimization algorithms from getting stuck in local minima, with PSO-ALM yielding the best overall results.

Conclusions:

  • The proposed PSO-ALM methodology enables accurate and real-time global localization for mobile robots.
  • The novel fitness function effectively prevents the algorithm from misidentifying the robot's location by penalizing nonsensical solutions.
  • PSO-ALM offers a consistent and predictable time complexity, making it suitable for practical robotic applications.