Simultaneous Localization and Map Building Based on Improved Particle Filter in Grid Map
The ability to simultaneous localization and precise mapping is a predetermination of autonomous robots. But because of the unknown location, the unpredictable environment information, the method of simultaneous localization and map building based on improved Particle Filter in grid map is presented to solve these uncertain problems. The distribution over robot poses and map information is estimated with Bayes rules and the improved Particle Filter respectively. The simulation result shows the method reduces the complexity of the data and enhances the real-time performance of the improved algorithm. With the method, the robot localizes itself accurately as well as builds grid map with higher accuracy. The proposed algorithm is effective and reliable to realize simultaneous localization and mapping.
mobile robot SLAM grid map Improved Particle Filter MSRDS
Kun Wang Liying Su Shucai Wang Yueqing Yu
College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology Beijing, China
国际会议
哈尔滨
英文
963-966
2011-08-12（万方平台首次上网日期，不代表论文的发表时间）