粒子滤波简介以及相关技术探讨（Brief introduction of particle filter and related techniques）.docVIP

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粒子滤波简介以及相关技术探讨（Brief introduction of particle filter and related techniques）.doc

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粒子滤波简介以及相关技术探讨（Brief introduction of particle filter and related techniques）

粒子滤波简介以及相关技术探讨（Brief introduction of particle filter and related techniques） Brief introduction of particle filter and related techniques Author: nchygy Lishuai source: release time: December 10, 2008 Mobile robot localization algorithm has been done before. Check and find that the particle filter algorithm (also known as the MC algorithm) should be the most popular. So start learning how to use it. I started with an English book called Probalistic robotic. It was great, the best book I ever saw. Spend a lot of time studying. Here, Id like to talk about my understanding of particle filtering. Because Im a new hand in this field. I wish I had a senior or an able person to correct my idea. Also I hope that this article is helpful for the novice to understand him (when I was troubled to find it difficult to understand the theoretical basis) here I dont want to talk about the particle filter and push to which we can go to your book. Ill just talk about my experience. Particle filter algorithm. He derived from the idea of Montecarlo, that is, the frequency of an event to indicate the probability of the event. Therefore, in the process of filtering, it is necessary to use the probability, such as P (x), to sample the variable x exactly, and to represent P (x) in a large amount of sampling distribution. Therefore, by using this idea, particle filtering can deal with any form of probability in the course of filtering, rather than Kalman filtering, which can only deal with the probability of Gauss distribution. He also has a major advantage here. Look at any equation of state as follows X (T), =f (x (t-1), u (T), w (T)) Y (T) =h (x (T), e (T)) The X (T) is the t moment state, the U (T) is the control quantity, and the w (T) and the E (T) are model noise and observation noise respectively. The former is, of course, the state transition equation, and the latter is the observation equation. Well, for such a problem, how does particle filtering filter the real state x (T) from