A FastSLAM algorithm based on the improved auxiliary particle filter with Stirling Interpolation

作者：Zhang Liang; Hong Feng; Chen Yao Wu^*

来源：Journal of Dong Hua University (english Edition), 2010, 27(4): 501-509.

• Consistency
• Fast-SLAM
• Improved auxiliary particle filter (IAPF)
• Simultaneous localization and mapping
• Stirling

The choice of the particle's distribution model and the consistency of the result are very important for FastSLAM. The improved auxiliary variable model with FastSLAM, and Stirling Interpolation which is used to approximate the nonlinear functions are provided. This approach improves the precision of the approximation for the nonlinear functions, conquers the drawback of the FastSLAM1.0 by using a model ignoring the measurement data, enhances the estimation consistency of the robot pose, and reduces the degradation speed of the particle in FastSLAM algorithm. Simulation results demonstrate the excellence of the proposed algorithm and give the noise parameter influence on the proposed algorithm.

• 单位
  西安电子科技大学