Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 12
3629-3633

FastSLAM 2.0 algorithm based on brain storm optimization

Zhu Daixiana
Wang Mingbob
Liu Shulinc
Guo Pinga
a. College of Communication & Information Engineering, b. College of Energy Engineering, c. College of Electrical & Control Engineering, Xi'an University of Science & Technology, Xi'an 710054, China
DOI: 10.19734/j.issn.1001-3695.2021.04.0165

Abstract

Aiming at the problem that the degradation of particle weight and the loss of particle diversity in FastSLAM 2.0 algorithm led to the decline of robot positioning and mapping accuracy, this paper proposed an improved FastSLAM 2.0 algorithm based on brain storm optimization. Firstly, it took the particle weight after importance sampling as the moderation value of individual evaluation in the brainstorming algorithm, and completed K-means clustering operation according to the difference of the moderation value. Secondly, it mutated the set after clustering to cancel the individual selection operation in the brainstorm algorithm. In this way, the improved brainstorm algorithm could replace the resampling process of particle filter, effectively alleviate the particle dilution phenomenon, increase the particle diversity, and finally improved the positioning and mapping accuracy of the rescue robot. In the robot positioning mapping experiment, compared with the classic FastSLAM 2.0 algorithm and the improved FastSLAM 2.0 algorithm based on genetic algorithm, the proposed algorithm has the highest positioning accuracy. Compared with the classic FastSLAM 2.0 algorithm, the positioning accuracy of the proposed algorithm is improved by 63%, and the stability is improved by 55%.

Foundation Support

国家自然科学基金资助项目(51774235)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.04.0165
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 12
Section: Algorithm Research & Explore
Pages: 3629-3633
Serial Number: 1001-3695(2021)12-018-3629-05

Publish History

[2021-12-05] Printed Article

Cite This Article

朱代先, 王明博, 刘树林, 等. 基于头脑风暴算法的FastSLAM 2.0算法 [J]. 计算机应用研究, 2021, 38 (12): 3629-3633. (Zhu Daixian, Wang Mingbo, Liu Shulin, et al. FastSLAM 2.0 algorithm based on brain storm optimization [J]. Application Research of Computers, 2021, 38 (12): 3629-3633. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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