刘洞波,刘国荣,王迎旭,肖鹏.基于区间分析无迹粒子滤波的移动机器人SLAM方法[J].农业机械学报,2012,43(10):155-160.
Liu Dongbo,Liu Guorong,Wang Yingxu,Xiao Peng.SLAM Method for Mobile Robot Based on Interval Analysis Unscented Particle Filter[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(10):155-160.
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基于区间分析无迹粒子滤波的移动机器人SLAM方法   [下载全文]
SLAM Method for Mobile Robot Based on Interval Analysis Unscented Particle Filter   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2012.10.028
中文关键词:  移动机器人  同时定位与地图创建  粒子滤波器  区间分析  无迹卡尔曼滤波
基金项目:国家自然科学基金资助项目(51177040、60970038)和湖南省自然科学基金重点资助项目(09JJ8006)
作者单位
刘洞波 湖南工程学院
湖南大学 
刘国荣 湖南工程学院
湖南大学 
王迎旭 湖南工程学院 
肖鹏 湖南工程学院 
中文摘要:移动机器人同时定位与地图创建算法SLAM中,非线性系统线性化处理和雅可比矩阵计算导致运算量大、系统状态估计精度较低。为此提出了一种基于区间分析的无迹粒子滤波同时定位与地图创建的方法。利用基于区间分析的区间粒子滤波进行位姿估计,降低了定位需要的粒子数;并采用无迹卡尔曼滤波更新地图中的特征,提高了地图创建的精度。在同等粒子数的情况下,改进了SLAM的精度,减少了运算时间,实验结果验证了方法的有效性。
Liu Dongbo  Liu Guorong  Wang Yingxu  Xiao Peng
Hunan Institute of Engineering;Hunan University;Hunan Institute of Engineering;Hunan University;Hunan Institute of Engineering;Hunan Institute of Engineering
Key Words:Mobile robot, SLAM, Particle filter, Interval analysis, Unscented Kalman filter
Abstract:In particle filter simultaneous localization and mapping method (SLAM) for mobile robots, linearization of nonlinear systems and derivation of the Jacobian matrices lead to large computing and system state estimation problem of low accuracy. To solve this problem,a SLAM method based on interval analysis and unscented particle filter was proposed. The number of particles was seriously reduced based on the interval analysis for pose estimation. The nature landmarks were updated through unscented Kalman filter to improve map estimation accuracy. This approach improved the state estimation accuracy and computational effort with a smaller number of particles than previous approaches. The results indicated that the proposed method was valid.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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