DocumentCode
3217847
Title
Improved FastSLAM based on the particle fission for mobile robots
Author
Wei, Zhi Q. ; Cao, Jing ; Yin, Bo ; Liu, Bing
Author_Institution
Comput. Sci. Dept., Ocean Univ. of China, Qingdao, China
fYear
2010
fDate
9-11 June 2010
Firstpage
1379
Lastpage
1384
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.
Keywords
Automatic control; Computer science; Mobile robots; Oceans; Particle filters; Robot kinematics; Robot localization; Robot sensing systems; Robotics and automation; Simultaneous localization and mapping;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Automation (ICCA), 2010 8th IEEE International Conference on
Conference_Location
Xiamen, China
ISSN
1948-3449
Print_ISBN
978-1-4244-5195-1
Electronic_ISBN
1948-3449
Type
conf
DOI
10.1109/ICCA.2010.5524227
Filename
5524227
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