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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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【Citations】
Chinese Journal Full-text Database 1 Hits
1 HU Shi-qiang~(1,2), JING Zhong-liang~1 (1.Department of Automation, Shanghai Jiaotong University, Shanghai 200030,China; 2.Department of Automation, Hebei University of Science and Technology, Shijiazhuang 050054, China);Overview of particle filter algorithm[J];Control and Decision;2005-04
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 Gong Xiaolin Fang Jiancheng(School of Instrument Science and Opto-electronics Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100083,China);Method of any two-position alignment based on predictive filter for SINS[J];Journal of Beijing University of Aeronautics and Astronautics;2008-05
2 Zhu Yunlong Yang Dongkai Liu Zhongkan(School of Electronics and Information Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China);Filtering algorithm used for high dynamic GPS frequency estimation[J];Journal of Beijing University of Aeronautics and Astronautics;2009-01
3 LIU Xi-mei,WEI Wan-yun,YU Fei (Department of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao 266042,China);Distributed fault diagnosis based on particle filtering[J];Transducer and Microsystem Technologies;2008-03
4 YANG De-gui1,ZHANG Chang-cheng1,ZHENG Tao2 (1.Institute of Space Electronic Technology,College of Electric Science and Engineering,NUDT,Changsha 410073,China;2.The First Communication Terminal,Guangzhou 510000,China);Performance analysis and improvement of particle filter algorithm[J];Electronics Optics & Control;2008-05
5 LI Jingjing,YI Guoxing,ZHANG Yingchun(Harbin Institute of Technology,Harbin 150001,China);Strapdown Imaging Seeker Los Rate Estimation Based on Particle Filter[J];Journal of Projectiles,Rockets,Missiles and Guidance;2009-02
6 Nie Jianliang(School of Geological and Surveying Engineering,Chang'an University,Xi'an 710054);PARTICLE FILTER BASED ON ADAPTIVE UNSCENTED KALMAN FILTER[J];Journal of Geodesy and Geodynamics;2008-03
7 Xiang Li Liu Yu Su Baoku(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China);A new nonlinear filter for GPS/DR integrated navigation system[J];Journal of Southeast University(Natural Science Edition);2008-S2
8 Tu Gangyi Jin Shijun Zhu Xuefen Song Aiguo (School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China);Compensation of GPS non-Gaussian pseudorange error based on improved particle filter algorithm[J];Journal of Electronic Measurement and Instrument;2009-06
9 YANG Liu,ZHANG Bao Liang,ZHAO Jian,ZHANG Rui Zhong (Institute of Mechanism Electronic Engineering,Xidian University,Xi'an 710071,China);A improved particle-filer based algorithm for human motion tracking[J];Application of Electronic Technique;2007-11
10 Zhang Baoliang Yang Liu Zhang Liang (Institution of Pattern Recognition and Intelligent Control,Xidian University,Xi'an 710071,China);A New Particle-filer Based Algorithm for IR Target-Tracking[J];Electronic Science and Technology;2007-11
China Proceedings of conference Full-text Database 3 Hits
1 LI Guo, ZHANG Xin-ke, YANG Guo-qing, GAO Qing-ji (College of Information Science and Technolgy, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; Research Institute of Robotics, Civil Aviation University of China, Tianjin 300300, China);An Adaptive Real-Time Tracking Algorithm for Moving Object[A];[C];2006
2 He Wenbo ,Liu Shirong, Li Wenlei Faculty of Information Science and Technology, Ningbo University, Ningbo 315211 School of Automation, Hangzhou Dianzi University, Hangzhou 310018;Nonlinear Filters Based Fault Diagnosis in Nonlinear Stochastic Systems[A];[C];2006
3 LI Cai-ju~1,LI Ya-an~2 (Collage of Marine Engineering,Northwestern Polytechnical University,Xi'an,710072,China);Research of Comparative Analysis of Extended kalman Filter and Particle Filter[A];[C];2009
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