A FastSLAM Algorithm Based on the Auxiliary Particle Filter with Stirling Interpolation

被引：0
|
作者：
Zhang, Liang [1 ]
Meng, Xu-jiong [1 ]
Chen, Yao-wu [1 ]
机构：
[1] Zhejiang Univ, Hangzhou 310003, Zhejiang, Peoples R China
来源：
ICIA: 2009 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-3 | 2009年
关键词：
FastSLAM; Auxiliary Particle Filter (APF); Stirling Interpolation; Simultaneous Localization And Mapping (SLAM); Interpolation Auxiliary Particle Filter FastSLAM (IAPFFastSLAM); SIMULTANEOUS LOCALIZATION; SLAM;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The choice of the distribution model and the consistency of the result are very important for FastSLAM. This paper provides a method which combines the auxiliary variable model with FastSLAM and, uses Stirling Interpolation to approximate the nonlinear functions. It overcomes the drawbacks of the FastSLAM by using a model ignoring the measurement data and the approximation error for nonlinear functions. This approach improves the estimation accuracy and reduces the degradation speed of the particle. Simulation results demonstrate the excellence of the proposed algorithm.
引用
收藏
页码：156 / 161
页数：6
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