An Improved FastSLAM Algorithm Based on Revised Genetic Resampling and SR-UPF

doi:10.1007/s11633-016-1050-y

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	An Improved FastSLAM Algorithm Based on Revised Genetic Resampling and SR-UPF
	Tai-Zhi Lv; Chun-Xia Zhao; Hao-Feng Zhang
刊名	International Journal of Automation and Computing
	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.
内容类型	期刊论文
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.