Improved grid mapping technology based on Rao-Blackwellized particle filters and the gradient descent algorithm

Improved grid mapping technology based on Rao-Blackwellized particle filters and the gradient descent algorithm

Recently, the Rao-Blackwellized particle filter (RBPF) has been used to solve the problem of simultaneous localization and mapping (SLAM). Using the odometer information of robot to calculate the proposed distribution requires a number of sampled particles, which increases the calculation complexity...

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Bibliographic Details
Main Authors: Tengfei Zhang, Chuanjiang Wang, Zhen Yuan, Mingyue Zheng
Format: Article
Language:English
Published: Taylor & Francis Group 2019-01-01
Series:Systems Science & Control Engineering
Subjects:
RBPF
proposal distribution
gradient descent algorithm
ROS
Online Access:http://dx.doi.org/10.1080/21642583.2019.1566858

Internet

http://dx.doi.org/10.1080/21642583.2019.1566858

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