基于粒子裂变的移动机器人改进FastSLAM

IEEE ICCA 2010 Pub Date : 2010-06-09 DOI:10.1109/ICCA.2010.5524227

Zhiqiang Wei, Jing Cao, B. Yin, Bing Liu

{"title":"基于粒子裂变的移动机器人改进FastSLAM","authors":"Zhiqiang Wei, Jing Cao, B. Yin, Bing Liu","doi":"10.1109/ICCA.2010.5524227","DOIUrl":null,"url":null,"abstract":"in this paper, we propose an improved method of FastSLAM for mobile robots. This improved method gives a solution to the sample impoverishment of ordinary particle filter by preprocessing before the resample. Experimental results show that the improved algorithm improves accuracy and real-time of robot localization and mapping compared to the EKF-SLAM as well as the regular FastSLAM and it is of better robustness. It provides a new approach to robot SLAM in out-door unknown environment.","PeriodicalId":155562,"journal":{"name":"IEEE ICCA 2010","volume":"132 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Improved FastSLAM based on the particle fission for mobile robots\",\"authors\":\"Zhiqiang Wei, Jing Cao, B. Yin, Bing Liu\",\"doi\":\"10.1109/ICCA.2010.5524227\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"in this paper, we propose an improved method of FastSLAM for mobile robots. This improved method gives a solution to the sample impoverishment of ordinary particle filter by preprocessing before the resample. Experimental results show that the improved algorithm improves accuracy and real-time of robot localization and mapping compared to the EKF-SLAM as well as the regular FastSLAM and it is of better robustness. It provides a new approach to robot SLAM in out-door unknown environment.\",\"PeriodicalId\":155562,\"journal\":{\"name\":\"IEEE ICCA 2010\",\"volume\":\"132 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE ICCA 2010\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCA.2010.5524227\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE ICCA 2010","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCA.2010.5524227","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 3

摘要

在本文中，我们提出了一种改进的移动机器人FastSLAM方法。该改进方法解决了普通粒子过滤器在进样前进行预处理的问题。实验结果表明，与EKF-SLAM和常规FastSLAM相比，改进算法提高了机器人定位和映射的精度和实时性，具有更好的鲁棒性。为机器人在室外未知环境下的SLAM研究提供了一种新的思路。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Improved FastSLAM based on the particle fission for mobile robots

in this paper, we propose an improved method of FastSLAM for mobile robots. This improved method gives a solution to the sample impoverishment of ordinary particle filter by preprocessing before the resample. Experimental results show that the improved algorithm improves accuracy and real-time of robot localization and mapping compared to the EKF-SLAM as well as the regular FastSLAM and it is of better robustness. It provides a new approach to robot SLAM in out-door unknown environment.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

IEEE ICCA 2010

自引率

0.00%

发文量