An intelligent UFastSLAM with MCMC move step

摘要

FastSLAM is a framework for simultaneous localization and mapping (SLAM). However, FastSLAM algorithm has two serious drawbacks, namely the linear approximation of nonlinear functions and the derivation of the Jacobian matrices. For solving these problems, UFastSLAM has been recently proposed. However, UFastSLAM is inconsistent over time due to the loss of particle diversity that is caused mainly by the particle depletion in the resampling step and incorrect a priori knowledge of process and measurement noises. To improve consistency, intelligent UFastSLAM with Markov chain Monte Carlo (MCMC) move step is proposed. In the proposed method, the adaptive neuro-fuzzy inference system supervises the performance of UFastSLAM. Furthermore, the particle impoverishment caused by resampling is restrained after the resample step with MCMC move step. Simulations and experiments are presented to evaluate the performance of algorithm in comparison with UFastSLAM. The results show the effectiveness of the proposed method.