A Radar-Based Simultaneous Localization and Mapping Paradigm for Scattering Map Modeling

Abstract

In this paper, a Simultaneous Localization and Mapping (SLAM) paradigm with an adaptive genetic particle filter is migrated to the detection platform with microwave radar sensors. A closed-loop feedback scheme is implemented to obtain the position of radar platform as well as to construct a scattering map for surrounding object with either deterministic or stochastic echo-wave response. The simulation results indicate that the algorithm works accurately in terms of both map construction and platform positioning.