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A FastSLAM Algorithm Based on Nonlinear Adaptive Square Root Unscented Kalman Filter
Joint Authors
Zhang, Juzhong
Zhang, Yu-feng
Zhou, Qi-xun
Jiang, Yi
Wang, Kai
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-03-15
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
For fast simultaneous localization and mapping (FastSLAM) problem, to solve the problems of particle degradation, the error introduced by linearization and inconsistency of traditional algorithm, an improved algorithm is described in the paper.
In order to improve the accuracy and reliability of algorithm which is applied in the system with lower measurement frequency, a new decomposition strategy is adopted for a posteriori estimation.
In proposed decomposition strategy, the problem of solving a 3-dimensional state vector and N 2-dimensional state vectors in traditional FastSLAM algorithm is transformed to the problem of solving N 5-dimensional state vectors.
Furthermore, a nonlinear adaptive square root unscented Kalman filter (NASRUKF) is used to replace the particle filter and Kalman filter employed by traditional algorithm to reduce the model linearization error and avoid solving Jacobian matrices.
Finally, the proposed algorithm is experimentally verified by vehicle in indoor environment.
The results prove that the positioning accuracy of proposed FastSLAM algorithm is less than 1 cm and the azimuth angle error is 0.5 degrees.
American Psychological Association (APA)
Zhang, Yu-feng& Zhou, Qi-xun& Zhang, Juzhong& Jiang, Yi& Wang, Kai. 2017. A FastSLAM Algorithm Based on Nonlinear Adaptive Square Root Unscented Kalman Filter. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1190365
Modern Language Association (MLA)
Zhang, Yu-feng…[et al.]. A FastSLAM Algorithm Based on Nonlinear Adaptive Square Root Unscented Kalman Filter. Mathematical Problems in Engineering No. 2017 (2017), pp.1-9.
https://search.emarefa.net/detail/BIM-1190365
American Medical Association (AMA)
Zhang, Yu-feng& Zhou, Qi-xun& Zhang, Juzhong& Jiang, Yi& Wang, Kai. A FastSLAM Algorithm Based on Nonlinear Adaptive Square Root Unscented Kalman Filter. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1190365
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190365