《计算机应用研究》|Application Research of Computers

基于小生境遗传优化的Rao-Blackwellised SLAM算法

Rao-Blackwellised SLAM based on niched genetic optimized method

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作者 陈建军,廖小飞,吴赟,陈光,庄新闯
机构 东华大学 a.信息科学与技术学院;b.数字化纺织服装技术教育部工程研究中心,上海 201620
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文章编号 1001-3695(2017)08-2368-04
DOI 10.3969/j.issn.1001-3695.2017.08.030
摘要 同步定位与地图构建(SLAM)是实现机器人自主定位的核心问题之一,Rao-Blackwellised粒子滤波器(RBPF)作为一种SLAM定位的有效方法,被广泛应用在实时定位领域中,但由于其随着粒子数目的增加会频繁重采样从而导致粒子退化问题。为了解决该问题,改善SLAM性能,提出了一种基于改进小生境遗传优化的RBPF SLAM算法INGO-RBPF,采用改进的Rao-Blackwellised粒子滤波器解决SLAM路径估计问题,采用扩展卡尔曼滤波器解决SLAM地图估计问题。最后通过MATLAB仿真表明INGO-RBPF算法具有较高的估计精度和稳定性,抗干扰能力较强,定位较准确,比较适合应用在SLAM实时定位中。
关键词 同步定位与地图创建(SLAM);Rao-Blackwellised粒子滤波器;小生境遗传算法;INGO-RBPF
基金项目 国家自然科学基金资助项目(71171045)
中央高校基本科研业务费专项基金资助项目(15D110422)
本文URL http://www.arocmag.com/article/01-2017-08-030.html
英文标题 Rao-Blackwellised SLAM based on niched genetic optimized method
作者英文名 Chen Jianjun, Liao Xiaofei, Wu Yun, Chen Guang, Zhuang Xinchuang
机构英文名 a.CollegeofInformationScience&Technology,b.EngineeringResearchCenterofDigitizedTextile&FashionTechnologyofMinistryofEducation,DonghuaUniversity,Shanghai201620,China
英文摘要 Simulation localization and mapping (SLAM) is one of the key problems in realizing robot self-navigation. As an effective method for SLAM location, it widely used Rao-Blackwellised particle filter(RBPF) in the field of real time location. However, the RBPF behavior of frequent resampling results in particle impoverishment problem along with particles increased. In order to solve the problem and improve the algorithm performance, this paper proposed a RBPF SLAM algorithm based on improved niched genetic optimization (INGO-RBPF). The INGO-RBPF algorithm solves the robot path estimation using improved Rao-Blackwellised particle filter(PF), and solves the map estimation using extended Kalman filter (EKF). Finally the MATLAB simulations prove that INGO-RBPF performs well on estimated accuracy, stability, disturbance and location accuracy, and therefore it is suitable to apply in SLAM real-time location.
英文关键词 simulation location and mapping(SLAM); Rao-Blackwellised particle filter; niched genetic algorithm; INGO-RBPF
参考文献 查看稿件参考文献
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收稿日期 2016/5/20
修回日期 2016/7/4
页码 2368-2371
中图分类号 TP301.6
文献标志码 A