维普期刊资源整合服务平台（V6.5）

维普中文期刊产品整合服务

共被期刊论文引用了1次 您的检索式：您选中1篇文献正在查看引证文献汇总

选中清除导出查看参考文献查看引证文献引用追踪共1页首页上一页第1页下一页末页 /1 跳转

		题名	作者	年代	出处	被引量
	1	Robust Iterated Sigma Point FastSLAM Algorithm for Mobile Robot Simultaneous Localization and Mapping显示文摘Simultaneous localization and mapping (SLAM) is a key technology for mobile robots operating under unknown environment. While FastSLAM algorithm is a popular solution to the SLAM problem, it suffers from two major drawbacks: one is particle set degeneracy due to lack of observation information in proposal distribution design of the particle filter; the other is errors accumulation caused by linearization of the nonlinear robot motion model and the nonlinear environment observation model. For the purpose of overcoming the above problems, a new iterated sigma point FastSLAM (ISP-FastSLAM) algorithm is proposed. The main contribution of the algorithm lies in the utilization of iterated sigma point Kalman filter (ISPKF), which minimizes statistical linearization error through Gaussian-Newton iteration, to design an optimal proposal distribution of the particle filter and to estimate the environment landmarks. On the basis of Rao-Blackwellized particle filter, the proposed ISP-FastSLAM algorithm is comprised by two main parts: in the first part, an iterated sigma point particle filter (ISPPF) to localize the robot is proposed, in which the proposal distribution is accurately estimated by the ISPKF; in the second part, a set of ISPKFs is used to estimate the environment landmarks. The simulation test of the proposed ISP-FastSLAM algorithm compared with FastSLAM2.0 algorithm and Unscented FastSLAM algorithm is carried out, and the performances of the three algorithms are compared. The simulation and comparing results show that the proposed ISP-FastSLAM outperforms other two algorithms both in accuracy and in robustness. The proposed algorithm provides reference for the optimization research of FastSLAM algorithm.	SONG Yu SONG Yongduan LI Qingling	2011	Chinese Journal of Mechanical Engineering2011，24，4：	2

返回顶部每页显示：

共1页首页上一页第1页下一页末页 /1 跳转

goolge学术搜索-维普

网站首页 | 关于我们 | 联系我们 | 产品服务 | 客服中心 | 广告服务 | 版权声明 | 网站联盟 | 友情链接 | 售卡网点

版权所有© 渝B2-20050021-1　渝公网安备 50019002500403号　违法和不良信息举报中心

互联网出版许可证新出网证(渝)字10号全国400电话 - 免长途话费