Square root central difference-based FastSLAM approach improved by differential evolution

Ankishan, Haydar; Arı, Fikret; Tartan, Emre Oner; Pakfiliz, Ahmet Güngör

doi:10.3906/elk-1307-55

Cited by 4 publications

(2 citation statements)

References 18 publications

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“…For the derivation of the FastSLAM2.0, readers can refer to the literature [ 16 , 31 ]. The main steps and formulas of the FastSLAM2.0 are as follows.…”

Section: Background Of the Fastslammentioning

confidence: 99%

“…Another problem of the FastSLAM algorithm is that it requires a large number of particles to maintain the accuracy of the algorithm in a complex environment, which will increase the running time of the algorithm and reduce the efficiency of the robot. In addition, the accurancy of algorithm decreased once the number of particles is insufficient [ 16 ].…”

Section: Introductionmentioning

confidence: 99%

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LSO-FastSLAM: A New Algorithm to Improve the Accuracy of Localization and Mapping for Rescue Robots

Zhu

Wang

et al. 2022

Sensors

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This paper improves the accuracy of a mine robot’s positioning and mapping for rapid rescue. Specifically, we improved the FastSLAM algorithm inspired by the lion swarm optimization method. Through the division of labor between different individuals in the lion swarm optimization algorithm, the optimized particle set distribution after importance sampling in the FastSLAM algorithm is realized. The particles are distributed in a high likelihood area, thereby solving the problem of particle weight degradation. Meanwhile, the diversity of particles is increased since the foraging methods between individuals in the lion swarm algorithm are different so that improving the accuracy of the robot’s positioning and mapping. The experimental results confirmed the improvement of the algorithm and the accuracy of the robot.

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“…For the derivation of the FastSLAM2.0, readers can refer to the literature [ 16 , 31 ]. The main steps and formulas of the FastSLAM2.0 are as follows.…”

Section: Background Of the Fastslammentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%