Particle Filter with the Novel Resampling Method using Artificial Immune System

摘要

A new resampling scheme for the particle filter using an Artificial Immune System (AIS) is proposed in this paper. Based on the basic strategy of AIS, we demonstrate that particle diversity can be maintained by distinguishing superior particles to be preserved from inferior particles which need to be mutated. Computer simulation has confirmed that the proposed resampling strategy is more effective than the standard particle filter.