An ant-based filtering random-finite-set approach to simultaneous localization and mapping

• Autorzy: Li D. , Zhu J. , Xu B. , Lu M. , Li M.

Identyfikatory

DOI

10.2478/amcs-2018-0039

• Języki publikacji: EN

Abstrakty

EN

Inspired by ant foraging, as well as modeling of the feature map and measurements as random finite sets, a novel formulation in an ant colony framework is proposed to jointly estimate the map and the vehicle trajectory so as to solve a feature-based simultaneous localization and mapping (SLAM) problem. This so-called ant-PHD-SLAM algorithm allows decomposing the recursion for the joint map-trajectory posterior density into a jointly propagated posterior density of the vehicle trajectory and the posterior density of the feature map conditioned on the vehicle trajectory. More specifically, an ant-PHD filter is proposed to jointly estimate the number of map features and their locations, namely, using the powerful search ability and collective cooperation of ants to complete the PHD-SLAM filter time prediction and data update process. Meanwhile, a novel fast moving ant estimator (F-MAE) is utilized to estimate the maneuvering vehicle trajectory. Evaluation and comparison using several numerical examples show a performance improvement over recently reported approaches. Moreover, the experimental results based on the robot operation system (ROS) platform validate the consistency with the results obtained from numerical simulations.

Słowa kluczowe

EN

simultaneous localization; simultaneous mapping; random finite set; probability hypothesis density; ant colony

PL

lokalizacja jednoczesna; mapowanie jednoczesne; algorytm mrówkowy

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2018
• Tom: Vol. 28, no. 3
• Strony: 505--519
• Opis fizyczny: Bibliogr. 29 poz., rys., tab., wykr.

Twórcy

autor

Li D.

• School of Electrical and Automatic Engineering, Changshu Institute of Technology, 215500 Changshu, China

autor

Zhu J.

• School of Electrical and Automatic Engineering, Changshu Institute of Technology, 215500 Changshu, China

autor

Xu B.

• School of Electrical and Automatic Engineering, Changshu Institute of Technology, 215500 Changshu, China

autor

Lu M.

• School of Electrical and Automatic Engineering, Changshu Institute of Technology, 215500 Changshu, China

autor

Li M.

• School of Electrical and Automatic Engineering, Changshu Institute of Technology, 215500 Changshu, China

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).