引用本文:陈世明,刘俊恺,肖娟.基于引力场优化的Unscented FastSLAM2.0算法[J].控制理论与应用,2018,35(8):1186~1193.[点击复制]
CHEN Shi-ming,LIU Jun-kai,XIAO Juan.A unscented fastslam2.0 algorithm based on gravitational field optimization[J].Control Theory and Technology,2018,35(8):1186~1193.[点击复制]
基于引力场优化的Unscented FastSLAM2.0算法
A unscented fastslam2.0 algorithm based on gravitational field optimization
摘要点击 2793  全文点击 1156  投稿时间：2017-05-27  修订日期：2018-01-30
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DOI编号  10.7641/CTA.2018.70358
  2018,35(8):1186-1193
中文关键词  粒子退化  粒子贫化  引力场优化  Unscented FastSLAM2.0  重采样
英文关键词  Particle degeneracy  particle dilution  Gravitational Field Optimization  Unscented FastSLAM2.0  Resampling
基金项目  国家自然科学基金项目(11662002, 61364017), 江西省创新驱动“5511”优势科技创新团队(20165BCB19011), 江西省重点研发计划–制造业信息 科技工程一般项目(20161BBE53008), 江西省自然科学基金项目(20171BAB202029), 江西省研究生创新专项资金项目(YC2017–S249)资助.
作者单位E-mail
陈世明* 华东交通大学电气与自动化工程学院 c1977318@hotmail.com 
刘俊恺 华东交通大学电气与自动化工程学院  
肖娟 华东交通大学电气与自动化工程学院  
中文摘要
      为了改进Unscented FastSLAM2.0算法重采样过程中的“粒子退化”和"粒子耗尽"问题,本文提出了一种基于引力场优化的Unscented FastSLAM2.0算法。首先采用Unscented粒子滤波器替代扩展卡尔曼滤波估计移动机器人路径后验概率，然后采用扩展卡尔曼滤波器对环境进行估计更新，最后用引力场优化思想优化重采样过程：在重采样中每个采样粒子近视成宇宙灰尘，通过引力场的移动因子产生作用驱动粒子集更快朝着真实的机器人位姿状态逼近，改善粒子退化问题；通过自转因子的自转作用，避免粒子过分集中，保障了粒子多样性。实验结果表明了该算法的有效性。
英文摘要
      To solve the problem of particle degradation and sample dilution in Unscented FastSLAM2.0 algorithm, this paper proposed a Unscented FastSLAM2.0 algorithm based on gravitational field optimization (GFA-Unscented FastSLAM2.0).Firstly, using Unscented particle filter instead of the Extended Kalman filter (EKF) to estimate the posterior probability of mobile robot path.Then the Extended Kalman filter is used to estimate and update the environment.Finally the gravitational field algorithm is used to optimize the resampling proces:each particle is considered cosmic dust during resampling proces, throung the mobile gravity factor of Gravitational Field can drive the particle swarm towards the real robot position faster, and improve the particle degradation problem; through the rotation effect of rotation factors can avoid excessive concentration particles, so as to ensure the diversity of particles.The simulation results show the effectiveness of the new algorithm.