基于改进雁群PSO算法的模糊自适应扩展卡尔曼滤波的SLAM算法

陈卫东; 刘要龙; 朱奇光; 陈颖

doi:10.7498/aps.62.170506

摘要

针对扩展卡尔曼滤波同时定位与地图创建算法中难以建立准确的先验噪声模型的问题, 提出一种基于改进雁群粒子群算法的模糊自适应卡尔曼滤波算法. 利用分数阶微积分改进粒子进化速度, 利用混沌来改进粒子的初始化和发生早熟时的处理. 改进后的雁群粒子群算法在收敛速度与避免早熟方面有了很大改进, 并将改进的雁群粒子群算法用于模糊自适应扩展卡尔曼滤波同时定位与地图创建算法的训练, 并与用雁群粒子群算法训练的模糊自适应扩展卡尔曼滤波同时定位与地图创建算法进行对比, 其在定位与构图方面有很大的提高.

关键词:

Abstract

Because the problem of the extended Kalman filter localization and mapping algorithm priori noise model is difficult to manage, this paper proposes an improved wild geese particle swarm algorithm based on the fuzzy adaptive Kalman filter localization and mapping algorithm. We take advantage of the the fractional calculus to improve particle speed of evolution, and make use of chaos to improve the initialization of the particle and the precocious one when processing. The improvement of wild geese particle swarm algorithm is shown in convergence rate and avoiding premature, then they can improve geese particle swarm algorithm for fuzzy adaptive extended Kalman filter localization and mapping algorithm training. in contrast with geese particle swarm algorithm fuzzy adaptive extended Kalman filter simultaneous localization and mapping algorithm, the new algorithm positioning and composition has greatly improved.

Keywords:

作者及机构信息

1.
燕山大学信息科学与工程学院, 秦皇岛 066004;

2.
河北省特种光纤与光纤传感重点实验室, 秦皇岛 066004;

3.
燕山大学电气工程学院, 秦皇岛 066004

基金项目: 教育部科学技术研究重点项目(批准号: 211023);河北省自然科学基金(批准号: F2012203169)和中国博士后基金项目(批准号: 2012M765)资助的课题.

Authors and contacts

1.
Institute of information Science and Engineering, Yanshan University, Qinhuangdao 066004, China;

2.
The Key Laboratory for Special Fiber and Fiber Sensor of Hebei Province, Yanshan University, Qinhuangdao 066004, China;

3.
Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China

Funds: Project supported by the Key Project of Ministry of Education, China (Grant No. 211023), the Natural Science Foundation of Hebei Province, China (Grant No. F2012203169), and the China Postdoctoral Science Foundation (Grant No. 2012M765).

参考文献

[1]	Xu D J, He R, Shen F, Gai M 2011 Systems Engineering and Electronics 33 2696 (in Chinese) [徐定杰, 贺瑞, 沈峰, 盖猛 2011 系统工程与电子技术 33 2696]
[2]	Chandima D P, Keigo W, Kiyotaka L 2008 Artifical Life and Robotics 13 155
[3]	Gao Y G, Wang S C, Liu Z G, Zhao X 2012 Journal of Chinese Inertial Technology 20 315 (in Chinese) [高运广, 王仕成, 刘志国, 赵欣 2012 中国惯性技术学报 20 315]
[4]	Ramazan H, Mohammad A N, Mohammad T 2010 International Journal of Computer Science Issues 7 15
[5]	Amitava C, Fumitoshi M 2006 Proceedings of The 3rd IEEE Conference on Intelligent Systems Varna, Bulgaria, September, 4-6 2006 04
[6]	Amitava C, Fumitoshi M 2010 Expert Systems with Application 37 5542
[7]	Fu A L, Lei X J 2008 7th Word Congress on Intelligent Control and Automation Chongqing, Peoples R China, Jun 25-27, 2008 7045
[8]	Solteiro P E J, Tenreiro M J A 2010 Nonlinear Dyn. 61 295
[9]	Dong J P 2009 Ph. D. Dissertation (Jinan: Shandong University) (in Chinese) [董建平 2009 博士学位论文 (济南: 山东大学)]
[10]	Micael S C, Rui P R, Fonseca N M, Tenreiro J A 2012 SIViP 6 343
[11]	Zhou J, Liu Y A, Wu F, Zhang H G, Zu Y X 2011 Acta Phys. Sin. 60 9 (in Chinese) [周杰, 刘元安, 吴帆, 张洪光, 俎云霄 2011 物理学报 60 9]
[12]	Pan X Y, Zhao H M 2012 Acta Phys. Sin. 61 20 (in Chinese) [潘欣裕, 赵鹤鸣 2012 物理学报 61 20]
[13]	Indranil P, Anna K, Saptarshi D, Sevket D 2012 Nonlinear Dyn. 70 2445

施引文献

[1]	Xu D J, He R, Shen F, Gai M 2011 Systems Engineering and Electronics 33 2696 (in Chinese) [徐定杰, 贺瑞, 沈峰, 盖猛 2011 系统工程与电子技术 33 2696]
[2]	Chandima D P, Keigo W, Kiyotaka L 2008 Artifical Life and Robotics 13 155
[3]	Gao Y G, Wang S C, Liu Z G, Zhao X 2012 Journal of Chinese Inertial Technology 20 315 (in Chinese) [高运广, 王仕成, 刘志国, 赵欣 2012 中国惯性技术学报 20 315]
[4]	Ramazan H, Mohammad A N, Mohammad T 2010 International Journal of Computer Science Issues 7 15
[5]	Amitava C, Fumitoshi M 2006 Proceedings of The 3rd IEEE Conference on Intelligent Systems Varna, Bulgaria, September, 4-6 2006 04
[6]	Amitava C, Fumitoshi M 2010 Expert Systems with Application 37 5542
[7]	Fu A L, Lei X J 2008 7th Word Congress on Intelligent Control and Automation Chongqing, Peoples R China, Jun 25-27, 2008 7045
[8]	Solteiro P E J, Tenreiro M J A 2010 Nonlinear Dyn. 61 295
[9]	Dong J P 2009 Ph. D. Dissertation (Jinan: Shandong University) (in Chinese) [董建平 2009 博士学位论文 (济南: 山东大学)]
[10]	Micael S C, Rui P R, Fonseca N M, Tenreiro J A 2012 SIViP 6 343
[11]	Zhou J, Liu Y A, Wu F, Zhang H G, Zu Y X 2011 Acta Phys. Sin. 60 9 (in Chinese) [周杰, 刘元安, 吴帆, 张洪光, 俎云霄 2011 物理学报 60 9]
[12]	Pan X Y, Zhao H M 2012 Acta Phys. Sin. 61 20 (in Chinese) [潘欣裕, 赵鹤鸣 2012 物理学报 61 20]
[13]	Indranil P, Anna K, Saptarshi D, Sevket D 2012 Nonlinear Dyn. 70 2445

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