|
|
Distributed Unscented Marginalized Particle Filter for Simultaneous Localization and Mapping |
PEI Fujun,LI Haoyang,WU Mei |
(Department of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China) |
|
|
Abstract Aimed at the problems of low precision, large amount of calculation and severe sample degeneracy of simultaneous localization and mapping(SLAM), this paper presented a distributed unscented marginalized particle filter(DUMPF) algorithm based on the combination of the distributed unscented particle filter(DUPF) with the marginalized particle filter(MPF). In the proposed method, the SLAM system was divided into several subsystems according to the distribution algorithms. The unscented particle filter(UPF) was used in each subsystem to estimate a part of the states. The marginal distribution of the UPF was optimized to reduce the computational complexity. The estimated results of the subsystems were transmitted to the master filter to obtain the final result. The simulation results showed that the improved DUMPF could prevent the particle degeneration problem, and had a higher precision and a smaller computational complexity.
|
Received: 24 July 2013
Published: 28 July 2014
|
|
|
|
|
[1] |
YAN Hui, ZHAO Yixi, YU Zhongqi, DU Yin. Electrically-Assisted Incremental Sheet Forming Process for 2060-T8 Al-Li Alloy[J]. Journal of Shanghai Jiaotong University, 2017, 51(5): 513-519. |
[2] |
GU Xinjian,YU Zhongqi,SONG Yang. Numerical Analysis of the Effect of Processing Parameters on#br#
Temperature on the Contact Interface During#br#
High Strength Steel Cold Stamping[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(4): 426-. |
[3] |
ZHENG Xiankun,WANG Wurong,WEI Xicheng. Plastic Deformation Behavior of HotDipped Advanced Galvanized Steel#br#
Under the Condition of Friction Coupling[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(4): 432-. |
[4] |
ZHU Mengrui,WU Zhaoyong,WU Jian,DU Zhengchun,YANG Jianguo. Measurement Uncertainty Evaluation on Circular Diameters Based on#br#
Error Ellipse Theory and Monte Carlo Method[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(4): 393-. |
[5] |
GONG Pengwei1,FEI Yanqiong1, 3, SONG Libo2. Road Recognition Method of WheelTracked Robot Based on#br#
Multisensor Information Fusion[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(4): 398-. |
[6] |
HUO Fali1,ZHANG Jian1,YANG Deqing2. Sensitivity Study of Wave Slamming with Respect to#br#
Water Depth for Floating Platform[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(4): 410-. |
[7] |
WU Lingjie,KOU Xinjian,ZHOU Yongjun,JIANG Meng. TimeDependent Chloride Transport in Existing Concrete Docks[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(4): 444-. |
[8] |
ZOU Xumao, LI Liangxing, KONG Liubo, WANG Huasheng. TwoPhase Flow Resistance and Interfacial Drag in Packed Beds[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(4): 470-. |
[9] |
LIU Yong1,CHEN Luyun2. Influence of Vortex Induced Vibration on the#br#
LiquidSolid TwoPhase Flow in Pipeline[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(4): 485-. |
[10] |
LI Xi,ZHANG Kaisheng,YANG Zili,LIAN Zhiwei. Indoor Air Quality Affected by Ultrasonic Atomization Liquid#br#
Desiccant Dehumidification System[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(3): 257-. |
[11] |
CHEN Si,MA Ning,GU Xiechong. Numerical Calculation of Added Resistance of Ships in#br#
Waves Based on Weakly Nonlinear Assumption[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(3): 277-. |
[12] |
LIU Dongxi1,TANG Wenyong1,WANG Jin1,2,XUE Hongxiang1. Simulation of Liquid Tank Sloshing by#br# Using Inhomogeneous Multiphase Model[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(3): 283-. |
[13] |
WANG Yunlong,LI Kai,SHEN Jiaqi,JIN Chaoguang,CHEN Xiaoya. Advanced Grade Evaluation of Trailing Suction Hopper Dredger[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(3): 305-. |
[14] |
MA Chenzeng,TANG Wenyong. Effect of Partial Failure of SelfSupporting Prismatic Type B#br#
Liquefied Natural Gas Carriers’ Thermal Insulation Layer on#br#
Structure Safety[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(3): 300-. |
[15] |
FAN Zheliang1,WANG Yanlin1,YUE Qianjin1,SUN Ye2. Fatigue Analysis of TransverseOscillation of#br#
Soft Yoke Mooring System Based on Field Monitoring[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2017, 51(3): 332-. |
|
|
|
|