1
|
Abstract
In order to enhance consistency in simultaneous localization and mapping (SLAM), in this paper, this problem is considered as a solely localization problem in the presence of unknown parameters. In this approach, the proposal distribution is generated based on marginal extended particle filter and static map is considered as a parametric estimation that is estimated by maximum likelihood techniques. Significant improvement of the filtering result from this viewpoint is demonstrated in terms of estimation performance and consistency. Some simulations and experiments are presented to evaluate the algorithm’s performance in comparison to conventional methods.
Collapse
Affiliation(s)
- Ramazan Havangi
- Faculty of Electrical and Computer Engineering, The University of Birjand, Iran
| |
Collapse
|
2
|
Abstract
In this paper, a new approach to SLAM is proposed that is based on particle filter and soft computing techniques. In this approach, the robot pose is estimated based on unscented marginal particle filter (UMPF) and the static map is considered as parameters that are updated using soft computing. Significant improvement in the proposed method is observed in terms of accuracy of estimation and consistency compared to conventional methods. A number of simulations and experiments are presented to evaluate the algorithm's performance compared to conventional approaches.
Collapse
Affiliation(s)
- R. HAVANGI
- Department of Systems and Control, Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, Tehran, Iran
| | - M. TESHNEHLAB
- Department of Systems and Control, Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, Tehran, Iran
| | - M. A. NEKOUI
- Department of Systems and Control, Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, Tehran, Iran
| | - H. D. TAGHIRAD
- Department of Systems and Control, Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, Tehran, Iran
| |
Collapse
|
3
|
Kang JG, Kim S, An SY, Oh SY. A new approach to simultaneous localization and map building with implicit model learning using neuro evolutionary optimization. APPL INTELL 2010. [DOI: 10.1007/s10489-010-0257-9] [Citation(s) in RCA: 20] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/27/2022]
|