Original scientific paper
https://doi.org/10.7305/automatika.2017.12.1627
Improved FastSLAM2.0 using ANFIS and PSO
Ramazan Havangi
; University of Birjand, Faculty of Electrical and Computer Engineering, South Khorasan Province, Birjand, A78, 97175615, Iran
Abstract
FastSLAM2.0 is a framework for simultaneous localization of robot using a Rao-Blackwellized particle filter (RBPF). One of the problems of FastSLAM2.0 relates to the design of RBPF. The performance and quality of the estimation of RBPF depends heavily on the correct a priori knowledge of the process and measurement noise covariance matrices that are in most real-life applications unknown. On the other hand, an incorrect a priori knowledge may seriously degrade their performance. This paper presents an intelligent RBPF to solve this problem. In this method, two adaptive Neuro-Fuzzy inference systems (ANFIS) are used for tuning the process and measurement noise covariance matrices and for increasing acuuracy and consistency. In addition, we use particle swarm optimization (PSO) to optimize the performance of sampling. Experimental results demonstrate that the proposed algorithm is effective.
Keywords
simultaneous localization and mapping (SLAM); FastSLAM; ANFIS; PSO
Hrčak ID:
196097
URI
Publication date:
19.1.2018.
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