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Aug 12, 2020
A SLAM Method to Improve the Performance of Unmanned Vehicle
Authors: Yalin Yang [email protected], Shuai Zhang [email protected], Qian Zhang [email protected], Yi Zhang [email protected], and Yahong Hou [email protected]Author Affiliations
Publication: CICTP 2020
ABSTRACT
Intelligent vehicle infrastructure cooperative system is the latest development in intelligent transportation, and autonomous navigation technology is the key technology in the field of intelligent transportation. Research on SLAM is especially essential. However, it is difficult to establish an accurate priori noise model based on Kalman filter for SLAM algorithm. This paper proposes a fast SLAM algorithm based on the improved geese particle swarm optimization algorithm, which effectively improves the local part of the particle optimal and precocious problems. The algorithm of the geese group particle swarm optimization algorithm is improved, the position update formula is designed, and the geese position update is used instead of particle resampling to update the position of the unmanned vehicle. Through MATLAB simulation experiments and experiments with real datasets, the improved algorithm improves the accuracy of positioning and mapping compared with the standard PSO-FASTSLAM, and verifies the superiority of the algorithm.
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© 2020 American Society of Civil Engineers.
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Published online: Aug 12, 2020
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1National Traffic Information and Control Virtual Simulation Experimental Teaching Center, School of Electronics and Control Engineering, Chang’an Univ., P.O. Box 710064, Xi’an, China. Email: [email protected]
2National Traffic Information and Control Virtual Simulation Experimental Teaching Center, School of Electronics and Control Engineering, Chang’an Univ., P.O. Box 710064, Xi’an, China. Email: [email protected]
3National Traffic Information and Control Virtual Simulation Experimental Teaching Center, School of Electronics and Control Engineering, Chang’an Univ., P.O. Box 710064, Xi’an, China. Email: [email protected]
4National Traffic Information and Control Virtual Simulation Experimental Teaching Center, School of Electronics and Control Engineering, Chang’an Univ., P.O. Box 710064, Xi’an, China. Email: [email protected]
5National Traffic Information and Control Virtual Simulation Experimental Teaching Center, School of Electronics and Control Engineering, Chang’an Univ., P.O. Box 710064, Xi’an, China. Email: [email protected]
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