Title :
A swarm intelligence optimization for particle filter
Author :
Xiaolong, Liang ; Jinfu, Feng ; Qian, Li ; Taorong, Lu ; Bingjie, Li
Author_Institution :
Coll. of Eng., Air Force Eng. Univ., Xian
Abstract :
To the problem of particle degeneracy and needing a large sample size for particle diversification, the swarm intelligence methodology was introduced into particle filter. Artificial fish swarm algorithm was given to solve particle destitution by means of optimization of particle filtering. First, the principium of particle filtering and some problems about it were pointed out. Then blending artificial fish swarm algorithm into particle filtering makes particle swarm move to the region of high likelihood. As a result, the problem of particle destitution is solved. Examples testify the viability of the proposed approach.
Keywords :
marine systems; mobile robots; multi-robot systems; particle filtering (numerical methods); artificial fish swarm algorithm; particle diversification; particle filtering; swarm intelligence optimization; Bayesian methods; Educational institutions; Filtering algorithms; Genetic algorithms; Humans; Intelligent control; Marine animals; Particle filters; Particle swarm optimization; State estimation; artificial fish swarm algorithm; mobile robot self-localization; particle filter; state estimation; swarm intelligence;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593230