Intelligent Filter-Based SLAM for Mobile Robots With Improved Localization Performance

Intelligent Filter-Based SLAM for Mobile Robots With Improved Localization Performance

Fast simultaneous localization and mapping (FastSLAM) is one of the most popular methods for autonomous navigation of mobile robots. However, FastSLAM is essentially a particle filter (PF) that suffers from particle impoverishment and degeneracy problems. To improve its localization performance, thi...

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Bibliographic Details
Main Authors: Mingwei Lin, Canjun Yang, Dejun Li, Gengli Zhou
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Particle filter
adaptive bat-inspired resampling
filter-based SLAM
mobile robots
Online Access:https://ieeexplore.ieee.org/document/8795445/

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