제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제19권10호
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  • Pages.907-914
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  • 2013
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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파티클 다양성 유지를 위한 지역적 그룹 기반 FastSLAM 알고리즘

Geographical Group-based FastSLAM Algorithm for Maintenance of the Diversity of Particles

  • 장준영 (강원대학교 전자통신공학과) ;
  • 지상훈 (한국생산기술연구원) ;
  • 박홍성 (강원대학교 전자통신공학과)
  • Jang, June-Young (Dept. of Electronic and Communication Engr., Kangwon National University) ;
  • Ji, Sang-Hoon (Dept. of Applied Robot Technology, Korea Institute of Industrial Technology) ;
  • Park, Hong Seong (Dept. of Electronic and Communication Engr., Kangwon National University)
  • 투고 : 2013.06.20
  • 심사 : 2013.08.11
  • 발행 : 2013.10.01
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초록

A FastSLAM is an algorithm for SLAM (Simultaneous Localization and Mapping) using a Rao-Blackwellized particle filter and its performance is known to degenerate over time due to the loss of particle diversity, mainly caused by the particle depletion problem in the resampling phase. In this paper, the GeSPIR (Geographically Stratified Particle Information-based Resampling) technique is proposed to solve the particle depletion problem. The proposed algorithm consists of the following four steps : the first step involves the grouping of particles divided into K regions, the second obtaining the normal weight of each region, the third specifying the protected areas, and the fourth resampling using regional equalization weight. Simulations show that the proposed algorithm obtains lower RMS errors in both robot and feature positions than the conventional FastSLAM algorithm.

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참고문헌

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피인용 문헌

  1. A Cloud-based Integrated Development Environment for Robot Software Development vol.21, pp.2, 2015, https://doi.org/10.5302/J.ICROS.2015.14.0059