Novel SLAM Algorithm for UGVs based BBO-CEPF

摘要：

　　Localization is one of the important topics for autonomous driving of unmanned ground vehicle(UGV).Most problems in localization are due to uncertainties in the modeling and sensors.Therefore,various filters method are developed to estimate the states with noise.Recently,particle filter is widely used because it can be applied to the system with nonlinear model and non-Gaussian noise.In this paper a adaptive particle filter based cross entropy and Biogeography Based Optimization is proposed,whose basic idea is to generate the new proposal density using optimization method.For comparison,we test a conventional particle filter method and our proposed method,experimental results show that the proposed method has better localization performance.

关键词： Key Words: Unmanned Ground Vehicle SLAM Particle Filter Biogeography Based Optimization Cross Entropy Optimization

作者: Kuifeng Su Tianqing Chang Lei Zhang

作者单位: Academy of Armored Force Engineering,Beijing,100072

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 4584-4588

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）