The Improved Locating Algorithm of Particle Filter Based on ROS Robot

2017 International Symposium on Application of Materials Science and Energy Materials

材料科学;能源学

Fang, Xun^1 ; Fu, Xiaoyang^1 ; Sun, Ming^1

Zhuhai College of Jilin University, Zhuhai, China^1

关键词: Basic theory;    Global efficiency;    Locating algorithm;    Matching behavior;    Particle filter;    Real-Time Locating Systems;    Technology-based;    Ultra-wideband technology;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/322/5/052034/pdf
DOI  :  10.1088/1757-899X/322/5/052034

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

This paperanalyzes basic theory and primary algorithm of the real-time locating system and SLAM technology based on ROS system Robot. It proposes improved locating algorithm of particle filter effectively reduces the matching time of laser radar and map, additional ultra-wideband technology directly accelerates the global efficiency of FastSLAM algorithm, which no longer needs searching on the global map. Meanwhile, the re-sampling has been largely reduced about 5/6 that directly cancels the matching behavior on Roboticsalgorithm.