A FastSLAM Algorithm Based on the Improved Auxiliary Particle Filter with Stirling Interpolation |
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| Authors: | ZHANG Liang HONG Feng CHEN Yao-wu |
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| Institution: | 1. College of Software,Xidian University,Xi'an 710071,China;Institute of Advanced Digital Technologies & Instrumentation,Zhejiang University,Hangzhou 310027,China
2. Institute of Advanced Digital Technologies & Instrumentation,Zhejiang University,Hangzhou 310027,China |
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| Abstract: | The choice of the particle's distribution model and the consistency of the result are very important for FastSLAM.The improved auxiliary variable model with FastSLAM,and Stirling Interpolation which is used to approximate the nonlinear functions are provided.This approach improves the precision of the approximation for the nonlinear functions,conquers the drawback of the FastSLAM1.0 by using a model ignoring the measurement data,enhances the estimation consistency of the robot pose,and reduces the degradati... |
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| Keywords: | improved auxiliary particle filter(IAPF) Stirling Interpolation simultaneous localization and mapping(SLAM) FastSLAM consistency |
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