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http://dx.doi.org/10.5391/JKIIS.2012.22.4.487

An Improved FastSLAM Algorithm using Fitness Sharing Technique  

Kwon, Oh-Sung (서경대학교 전자공학과)
Hyeon, Byeong-Yong (서경대학교 전자공학과)
Seo, Ki-Sung (서경대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.4, 2012 , pp. 487-493 More about this Journal
Abstract
SLAM(Simultaneous Localization And Mapping) is a technique used by robots and autonomous vehicles to build up a map within an unknown environment and estimate a place of robot. FastSLAM(A Factored Solution to the SLAM) is one of representative method of SLAM, which is based on particle filter and extended Kalman filter. However it is suffered from loss of particle diversity. In this paper, new approach using fitness sharing is proposed to supplement loss of particle diversity, compared and analyzed with existing methods.
Keywords
Fitness Sharing; Simultaneous Localization And Mapping; FastSLAM; Particle Filter; Extended Kalman Filter;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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