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《Transducer and Microsystem Technologies》 2008-05
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Research on global localization of mobile robot based on SSPF algorithm

LUO Ying,TAN Guan-zheng(School of Information Science and Engineering,Central South University,Changsha 410083,China)  
Traditional particle filter(PF) algorithm can lead to particle degeneracy and particle depletion problems in global localization of mobile robot to cause localizing defeat.A improved PF named smart sampling particle filter(SSPF) algorithm is proposed by combining Unscented Kalman filter(UKF) algorithm and relative entropy for adaptive PF algorithm,which solves the particle degeneracy of traditional PF algorithm.Since one of the extreme conditions of resampling can cause particle depletion,this problem is solved by using metropolis hastings(MH) approach.Comparing with previous methods,the algorithm can implement global localization of mobile robot with high precise.
【Fund】: 国家自然科学基金资助项目(50275150);; 高等学校博士学科点专项科研基金资助项目(20040533035)
【CateGory Index】: TP242.6
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