An Improved FastSLAM2.0 Algorithm Based on Ant Colony Optimization

被引：0
|
作者：
Wen Shiguang [1 ]
Yao Mingde [1 ]
Wu Chengdong [1 ]
Li Jun [1 ]
机构：
[1] Northeastern Univ, Sch Informat Sci & Engn, Shenyang 110004, Liaoning, Peoples R China
来源：
2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2017年
关键词：
Simultaneous Localization and Mapping; Ant Colony Optimization; Particle Depletion; FastSLAM2.0;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Montemerlo et al. proposed an algorithm called FastSLAM2.0 as an efficient and robust solution to the simultaneous localization and mapping problem. We proposed an ant colony optimization based resampling method, which seriously reduces the problem of particle depletion. Simulation experimental results illustrate the advantages of our method over previous approach.
引用
收藏
页码：7134 / 7137
页数：4
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