Abstract：A large number of particles are needed to improve the precision in particle filtering SLAM(simultaneous localization and mapping) of mobile robots. To solve this problem,a SLAM method based on particle swarm optimization(PSO) is presented by introducing PSO's idea into the FastSLAM. Through the particle swarm optimization,the particle's prediction is updated,the particle's proposal distribution is adjusted in FastSLAM,and then the particles are concentrated around the robot's true pose. The method can enhance the SLAM precision effectively,and reduce the particle number and the computational time complexity. The simulation experiment results prove its effectiveness and feasibility.
[1] 王璐,蔡自兴.未知环境中移动机器人并发建图与定位(CML)的研究进展[J].机器人,2004,26(4):380-384.Wang Lu,Cai Zixing.Progress of CML for mobile robots in unknown environments[J].Robot,2004,26(4):380-384.
[2] Yin B,Wei Z Q,Zhuang X D.Robust mobile robot localization using an evolutionary particle filter[M]//Lecture Notes in Computer Science (vol.3801).Berlin,Germany:Springer-Verlag,2005:279-284.
[3] Moreno L,Munoz M L,Garrido S,et al.Evolutionary filter for mobile robot global localization[C]//IEEE International Symposium on Intelligent Signal Processing.Piscataway,NJ,USA:IEEE,2007:891-896.
[4] Chatterjee A,Matsuno E Improving EKF-based solutions for SLAM problems in mobile robots employing neuro-fuzzy supervision[C]//IEEE International Conference on Intelligent Systems.Piscataway,NJ,USA:IEEE,2006:683-689.
[5] 李枚毅.结合免疫机制的并发定位与建图多目标进化算法[J].湘潭大学自然科学学报,2007,29(2):111-117.Li Meiyi.Multi-objective evolutionary algorithms for SLAM with immunity[J].Natural Science Journal of Xiangtan University,2007,29(2):111-117.
[6] Kennedy J,Eberhart R.Particle swarm optimization[C]/IEEE International Conference on Neural Networks.Piscataway,NJ,USA:IEEE,1995:1942-1948.
[7] Angeline P J.Evolutionary optimization versus particle swarm optimization:Philosophy and performance differences[M]//Lecture Notes in Computer Science (vo1.1447).Berlin,Germany:Springer-Verlag,1998:601-610.
[8] Montemerlo M,Thrun S.Simultaneous localization and mapping with unknown data association using FastSLAM[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2003:1985-1991.
