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A Strong Tracking SLAM Algorithm Based on the Suboptimal Fading Factor
Joint Authors
Liang, Yunpei
Dai, Jiahui
Wang, Kequan
Li, Xiaobo
Xu, Pengcheng
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-03
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
This paper proposes an innovative simultaneous localization and mapping (SLAM) algorithm which combines a strong tracking filter (STF), an unscented Kalman filter (UKF), and a particle filter (PF) to deal with the low accuracy of unscented FastSLAM (UFastSLAM).
UFastSLAM lacks the capacity for online self-adaptive adjustment, and it is easily influenced by uncertain noise.
The new algorithm updates each Sigma point in UFastSLAM by an adaptive algorithm and obtains optimized filter gain by the STF adjustment factor.
It restrains the influence of uncertain noise and initial selection.
Therefore, the state estimation would converge to the true value rapidly and the accuracy of system state estimation would be improved eventually.
The results of simulations and practical tests show that strong tracking unscented FastSLAM (STUFastSLAM) has a significant improvement in accuracy and robustness.
American Psychological Association (APA)
Liang, Yunpei& Dai, Jiahui& Wang, Kequan& Li, Xiaobo& Xu, Pengcheng. 2018. A Strong Tracking SLAM Algorithm Based on the Suboptimal Fading Factor. Journal of Sensors،Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1202331
Modern Language Association (MLA)
Liang, Yunpei…[et al.]. A Strong Tracking SLAM Algorithm Based on the Suboptimal Fading Factor. Journal of Sensors No. 2018 (2018), pp.1-14.
https://search.emarefa.net/detail/BIM-1202331
American Medical Association (AMA)
Liang, Yunpei& Dai, Jiahui& Wang, Kequan& Li, Xiaobo& Xu, Pengcheng. A Strong Tracking SLAM Algorithm Based on the Suboptimal Fading Factor. Journal of Sensors. 2018. Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1202331
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1202331