基于类电磁机制优化的FastSLAM20算-控制理论与应用.PDF

32 1 Vol. 32 No. 1 2015 1 Control Theory Applications Jan. 2015 DOI: 10.7641/CTA.2015.31077 FastSLAM2.0 , , , (1. , 330013; 2. , 430074) : FastSLAM2.0 , FastSLAM2.0. (unscented Kalman filter, UKF)(extended Kalman filter, EKF) , ; , , , , , , , . . : ; FastSLAM; ; ; : TP242 : A A FastSLAM2.0 algorithm based on electromagnetism-like mechanism CHEN Shi-ming , YUAN Jun-feng , CHEN Xiao-ling , FANG Hua-jing (1. School of Electrical and Electronic Engineering, East China Jiaotong University, Nanchang Jiangxi 330013, China; 2. School of Automation, Huazhong University of Science and Technology, Wuhan Hubei 430074, China) Abstract: To solve the problem of particle degradation and sample dilution in FastSLAM2.0 algorithm, this paper pro- posed a new FastSLAM2.0 algorithm based on electromagnetism-like mechanism (EM–FastSLAM2.0). Firstly, in order to reduce the model linearization error, unscented Kalman filter (UKF) is used to replace extended Kalman filter (EKF) for posteriori estimation of robot pose in EM–FastSLAM2.0 and the quality of sampling particles are improved. Secondly, assuming that each sampling particle is looked as an charged electron and attraction-repulsion mechanism in electromag- netism field is used to simulate interactive force between the particles, electromagnetism-like mechanism is introduced to resampling procedure, where electromagnetism-like attractions drive the particles approach to high likelihood region and make them distributed closely to the true pose