scholarly journals Grey Wolf Resampling-Based Rao-Blackwellized Particle Filter for Mobile Robot Simultaneous Localization and Mapping

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Yong Dai ◽  
Ming Zhao
Keyword(s):  
Mobile Robot ◽  
Particle Filter ◽  
Data Association ◽  
Simultaneous Localization And Mapping ◽  
Fast Convergence ◽  
Grey Wolf Optimizer ◽  
Grey Wolf ◽  
Local Data ◽  
Localization And Mapping ◽  
Indoor Mobile Robot

An artificial intelligent grey wolf optimizer (GWO)-assisted resampling scheme is applied to the Rao-Blackwellized particle filter (RBPF) in the simultaneous localization and mapping (SLAM). By doing this, we can make the diversity of the particles resampling and then obtain a better localization accuracy and fast convergence to realize indoor mobile robot SLAM. In addition, we propose an adaptive local data association (Range-SLAM) scheme to improve the computational efficiency for the algorithm of the nearest neighbor (NN) data association in the iteration of the RBPF prediction. Through the experiment and simulations, the proposed SLAM schemes have fast convergence, accuracy, and heuristics. Therefore, the improved RBPF and new data association schemes presented in this paper can provide a feasible method for the indoor mobile robot SLAM.

PARTICLE FILTER IN SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) USING DIFFERENTIAL DRIVE MOBILE ROBOT

2015 ◽  
Vol 77 (20) ◽  
Author(s):  
Norhidayah Mohamad Yatim ◽  
Norlida Buniyamin
Keyword(s):  
Kalman Filter ◽  
Mobile Robot ◽  
Particle Filter ◽  
Mean Squared Error ◽  
Simultaneous Localization And Mapping ◽  
Simulation Accuracy ◽  
Differential Drive ◽  
Estimation Algorithms ◽  
Localization And Mapping ◽  
Number Of Particles

Simultaneous Localization and Mapping (SLAM) problem is a well-known problem in robotics, where a robot has to localize itself and map its environment simultaneously. Particle filter (PF) is one of the most adapted estimation algorithms for SLAM apart from Kalman filter (KF) and Extended Kalman Filter (EKF). In this work, particle filter algorithm has been successfully implemented using a simple differential drive mobile robot called e-puck. The performance of the algorithm implemented is analyzed via varied number of particles. From simulation, accuracy of the resulting maps differed according to the number of particles used. The Root Mean Squared Error (RMSE) of a larger number of particles is smaller compared to a lower number of particles after a period of time.  

scholarly journals δ-Generalized Labeled Multi-Bernoulli Simultaneous Localization and Mapping with an Optimal Kernel-Based Particle Filtering Approach

Sensors ◽  
2019 ◽  
Vol 19 (10) ◽  
pp. 2290 ◽  
Author(s):  
Diluka Moratuwage ◽  
Martin Adams ◽  
Felipe Inostroza
Keyword(s):  
Particle Filter ◽  
Particle Filtering ◽  
State Of The Art ◽  
Data Association ◽  
Simultaneous Localization And Mapping ◽  
Probability Hypothesis Density ◽  
Localization And Mapping ◽  
Optimal Kernel ◽  
Over Time ◽  
Map Management

Under realistic environmental conditions, heuristic-based data association and map management routines often result in divergent map and trajectory estimates in robotic Simultaneous Localization And Mapping (SLAM). To address these issues, SLAM solutions have been proposed based on the Random Finite Set (RFS) framework, which models the map and measurements such that the usual requirements of external data association routines and map management heuristics can be circumvented and realistic sensor detection uncertainty can be taken into account. Rao–Blackwellized particle filter (RBPF)-based RFS SLAM solutions have been demonstrated using the Probability Hypothesis Density (PHD) filter and subsequently the Labeled Multi-Bernoulli (LMB) filter. In multi-target tracking, the LMB filter, which was introduced as an efficient approximation to the computationally expensive δ -Generalized LMB ( δ -GLMB) filter, converts its representation of an LMB distribution to δ -GLMB form during the measurement update step. This not only results in a loss of information yielding inferior results (compared to the δ -GLMB filter) but also fails to take computational advantages in parallelized implementations possible with RBPF-based SLAM algorithms. Similar to state-of-the-art random vector-valued RBPF solutions such as FastSLAM and MH-FastSLAM, the performances of all RBPF-based SLAM algorithms based on the RFS framework also diverge from ground truth over time due to random sampling approaches, which only rely on control noise variance. Further, the methods lose particle diversity and diverge over time as a result of particle degeneracy. To alleviate this problem and further improve the quality of map estimates, a SLAM solution using an optimal kernel-based particle filter combined with an efficient variant of the δ -GLMB filter ( δ -GLMB-SLAM) is presented. The performance of the proposed δ -GLMB-SLAM algorithm, referred to as δ -GLMB-SLAM2.0, was demonstrated using simulated datasets and a section of the publicly available KITTI dataset. The results suggest that even with a limited number of particles, δ -GLMB-SLAM2.0 outperforms state-of-the-art RBPF-based RFS SLAM algorithms.

scholarly journals SLAM of Mobile Robot for Wireless Communication Based on Improved Particle Filter

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Daixian Zhu ◽  
Mingbo Wang ◽  
Mengyao Su ◽  
Shulin Liu ◽  
Ping Guo
Keyword(s):  
Wireless Communication ◽  
Mobile Robot ◽  
Particle Filter ◽  
Simultaneous Localization And Mapping ◽  
Positioning Accuracy ◽  
Diversity Loss ◽  
Localization And Mapping ◽  
Auxin Content ◽  
Robot Positioning ◽  
Particle Weight

The mobile robot is moved by receiving instructions through wireless communication, and the particle filter is used to simultaneous localization and mapping. Aiming at the problem of the degradation of particle filter weights and loss of particle diversity, which leads to the decrease of filter accuracy, this paper uses the plant cell swarm algorithm to optimize the particle filter. First of all, combining the characteristics of plant cells that affect the growth rate of cells when the auxin content changes due to light stimulation realizes the optimization of the particles after importance sampling, so that they are concentrated in the high-likelihood area, and the problem of particle weight degradation is solved. Secondly, in the process of optimizing particle distribution, the auxin content of each particle is different, which makes the optimization effect on each particle different, so it effectively solves the problem of particle diversity loss. Finally, a simulation experiment is carried out. During the experiment, the robot moves by receiving control commands through wireless communication. The experimental results show that the algorithm effectively solves the problem of particle weight degradation and particle diversity loss and improves the filtering accuracy. The improved algorithm is verified in the simultaneous localization and mapping of the robot, which effectively improves the robot’s performance at the same time positioning accuracy. Compared with the classic algorithm, the robot positioning accuracy is increased by 49.2%. Moreover, the operational stability of the algorithm has also been improved after the improvement.

TSLAM: Tethered simultaneous localization and mapping for mobile robots

2017 ◽  
Vol 36 (12) ◽  
pp. 1363-1386 ◽  
Author(s):  
Patrick McGarey ◽  
Kirk MacTavish ◽  
François Pomerleau ◽  
Timothy D Barfoot
Keyword(s):  
Mobile Robots ◽  
Particle Filter ◽  
Low Cost ◽  
Simultaneous Localization And Mapping ◽  
Ground Truth ◽  
Anchor Point ◽  
Outlier Rejection ◽  
Cluttered Environments ◽  
Localization And Mapping ◽  
Anchor Points

Tethered mobile robots are useful for exploration in steep, rugged, and dangerous terrain. A tether can provide a robot with robust communications, power, and mechanical support, but also constrains motion. In cluttered environments, the tether will wrap around a number of intermediate ‘anchor points’, complicating navigation. We show that by measuring the length of tether deployed and the bearing to the most recent anchor point, we can formulate a tethered simultaneous localization and mapping (TSLAM) problem that allows us to estimate the pose of the robot and the positions of the anchor points, using only low-cost, nonvisual sensors. This information is used by the robot to safely return along an outgoing trajectory while avoiding tether entanglement. We are motivated by TSLAM as a building block to aid conventional, camera, and laser-based approaches to simultaneous localization and mapping (SLAM), which tend to fail in dark and or dusty environments. Unlike conventional range-bearing SLAM, the TSLAM problem must account for the fact that the tether-length measurements are a function of the robot’s pose and all the intermediate anchor-point positions. While this fact has implications on the sparsity that can be exploited in our method, we show that a solution to the TSLAM problem can still be found and formulate two approaches: (i) an online particle filter based on FastSLAM and (ii) an efficient, offline batch solution. We demonstrate that either method outperforms odometry alone, both in simulation and in experiments using our TReX (Tethered Robotic eXplorer) mobile robot operating in flat-indoor and steep-outdoor environments. For the indoor experiment, we compare each method using the same dataset with ground truth, showing that batch TSLAM outperforms particle-filter TSLAM in localization and mapping accuracy, owing to superior anchor-point detection, data association, and outlier rejection.

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