An Improved FastSLAM Algorithm Based on Revised Genetic Resampling and SR-UPF
文献类型：期刊论文
| 作者 | Tai-Zhi Lv; Chun-Xia Zhao; Hao-Feng Zhang |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2018 |
| 卷号 | 15期号:3页码:325-334 |
| 关键词 | Simultaneous localization and mapping (SLAM) genetic algorithm square root unscented particle filter (SR-UPF) fast Metropolis-Hastings (MH) double roulette wheels. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-016-1050-y |
| 英文摘要 | FastSLAM is a popular framework which uses a Rao-Blackwellized particle filter to solve the simultaneous localization and mapping problem (SLAM). However, in this framework there are two important potential limitations, the particle depletion problem and the linear approximations of the nonlinear functions. To overcome these two drawbacks, this paper proposes a new FastSLAM algorithm based on revised genetic resampling and square root unscented particle filter (SR-UPF). Double roulette wheels as the selection operator, and fast Metropolis-Hastings (MH) as the mutation operator and traditional crossover are combined to form a new resampling method. Amending the particle degeneracy and keeping the particle diversity are both taken into considerations in this method. As SR-UPF propagates the sigma points through the true nonlinearity, it decreases the linearization errors. By directly transferring the square root of the state covariance matrix, SR-UPF has better numerical stability. Both simulation and experimental results demonstrate that the proposed algorithm can improve the diversity of particles, and perform well on estimation accuracy and consistency. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42413]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | School of Computer Science and Technology, Nanjing University of Science and Technology, Nanjing 210094, China |
| 推荐引用方式 GB/T 7714 | Tai-Zhi Lv,Chun-Xia Zhao,Hao-Feng Zhang. An Improved FastSLAM Algorithm Based on Revised Genetic Resampling and SR-UPF[J]. International Journal of Automation and Computing,2018,15(3):325-334. |
| APA | Tai-Zhi Lv,Chun-Xia Zhao,&Hao-Feng Zhang.(2018).An Improved FastSLAM Algorithm Based on Revised Genetic Resampling and SR-UPF.International Journal of Automation and Computing,15(3),325-334. |
| MLA | Tai-Zhi Lv,et al."An Improved FastSLAM Algorithm Based on Revised Genetic Resampling and SR-UPF".International Journal of Automation and Computing 15.3(2018):325-334. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。