Optimization of Rao Blackwellized Particle Filter SLAM using Firefly algorithm
Navigation accuracy, which is an imperative performance indicator for mobile robots, is intimately associated with the grid mapping algorithm (G-mapping) accuracy. In an unstructured environment, mobile robot positioning accuracy is important to ensure safety. For this reason, in this study G-mappin...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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The University of Lahore
2020-12-01
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| Series: | Pakistan Journal of Engineering & Technology |
| Subjects: | |
| Online Access: | http://dev.ojs.com/index.php/pakjet/article/view/649 |
| _version_ | 1818383604650082304 |
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| author | Muhammad Fayyaz Muhammad Tufail Shahzad Anwar Zubair Ahmad Shahbaz Khan |
| author_facet | Muhammad Fayyaz Muhammad Tufail Shahzad Anwar Zubair Ahmad Shahbaz Khan |
| author_sort | Muhammad Fayyaz |
| collection | DOAJ |
| description | Navigation accuracy, which is an imperative performance indicator for mobile robots, is intimately associated with the grid mapping algorithm (G-mapping) accuracy. In an unstructured environment, mobile robot positioning accuracy is important to ensure safety. For this reason, in this study G-mapping Algorithm is modelled based on Rao-Blackwellized particle filter (RBPF) offering better results with a low number of sensors and features. To investigate various methods' effectiveness, a comparative analysis of three optimization methods namely Gradient descent, ANT colony, and firefly algorithm was made. The results exhibit that the firefly method performs well in terms of navigation accuracy, particle degradation, and ensuring mobile robot safety in a complex and unstructured environment. |
| first_indexed | 2024-12-14T03:09:01Z |
| format | Article |
| id | doaj.art-67256ae21761496393ced1a50785d522 |
| institution | Directory Open Access Journal |
| issn | 2664-2042 2664-2050 |
| language | English |
| last_indexed | 2024-12-14T03:09:01Z |
| publishDate | 2020-12-01 |
| publisher | The University of Lahore |
| record_format | Article |
| series | Pakistan Journal of Engineering & Technology |
| spelling | doaj.art-67256ae21761496393ced1a50785d5222022-12-21T23:19:19ZengThe University of LahorePakistan Journal of Engineering & Technology2664-20422664-20502020-12-01303Optimization of Rao Blackwellized Particle Filter SLAM using Firefly algorithmMuhammad Fayyaz0Muhammad Tufail1Shahzad Anwar2Zubair Ahmad3Shahbaz Khan4University of Engineering and Technology PeshawarDepartment of Mechatronics Engineering, University of Engineering & Technology Peshawar, PakistanDepartment of Mechatronics Engineering, University of Engineering & Technology Peshawar, PakistanDepartment of Mechatronics Engineering, University of Engineering & Technology Peshawar, PakistanDepartment of Mechatronics Engineering, University of Engineering & Technology Peshawar, PakistanNavigation accuracy, which is an imperative performance indicator for mobile robots, is intimately associated with the grid mapping algorithm (G-mapping) accuracy. In an unstructured environment, mobile robot positioning accuracy is important to ensure safety. For this reason, in this study G-mapping Algorithm is modelled based on Rao-Blackwellized particle filter (RBPF) offering better results with a low number of sensors and features. To investigate various methods' effectiveness, a comparative analysis of three optimization methods namely Gradient descent, ANT colony, and firefly algorithm was made. The results exhibit that the firefly method performs well in terms of navigation accuracy, particle degradation, and ensuring mobile robot safety in a complex and unstructured environment.http://dev.ojs.com/index.php/pakjet/article/view/649Machine learning, Mobile robot navigation, Optimization |
| spellingShingle | Muhammad Fayyaz Muhammad Tufail Shahzad Anwar Zubair Ahmad Shahbaz Khan Optimization of Rao Blackwellized Particle Filter SLAM using Firefly algorithm Pakistan Journal of Engineering & Technology Machine learning, Mobile robot navigation, Optimization |
| title | Optimization of Rao Blackwellized Particle Filter SLAM using Firefly algorithm |
| title_full | Optimization of Rao Blackwellized Particle Filter SLAM using Firefly algorithm |
| title_fullStr | Optimization of Rao Blackwellized Particle Filter SLAM using Firefly algorithm |
| title_full_unstemmed | Optimization of Rao Blackwellized Particle Filter SLAM using Firefly algorithm |
| title_short | Optimization of Rao Blackwellized Particle Filter SLAM using Firefly algorithm |
| title_sort | optimization of rao blackwellized particle filter slam using firefly algorithm |
| topic | Machine learning, Mobile robot navigation, Optimization |
| url | http://dev.ojs.com/index.php/pakjet/article/view/649 |
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