Mobile robot SLAM method based on multi-agent particle swarm optimized particle filter
| Autor: | La-mei Li, Xianlun Tang, Bo-jie Jiang |
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| Rok vydání: | 2014 |
| Předmět: |
Computer Networks and Communications
Computer science ComputingMethodologies_MISCELLANEOUS Particle swarm optimization Fault tolerance Mobile robot Simultaneous localization and mapping Computer Science::Robotics Signal Processing Particle Robot Multi-swarm optimization Particle filter Algorithm Simulation Information Systems |
| Zdroj: | The Journal of China Universities of Posts and Telecommunications. 21:78-86 |
| ISSN: | 1005-8885 |
| DOI: | 10.1016/s1005-8885(14)60348-4 |
| Popis: | To overcome particle impoverishment, a simultaneous localization and mapping (SLAM) method based on multi-agent particle swarm optimized particle filter (MAPSOPF) was presented by introducing the idea of multi-agent to the particle swarm optimized particle filter (PSOPF) which is an algorithm for SLAM. In MAPSOPF, agents can communicate and compete with each other and learn from each other. The MAPSOPF algorithm can update the prediction of particle, adjust the proposal distribution of particles, improve localization precision and fault tolerance, and propel the particles to concentrate on the robot's true pose. Compared with standard particle filter (PF), the proposed method can achieve better SLAM precision by fewer particles. Simulations verify its effectiveness and feasibility. |
| Databáze: | OpenAIRE |
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