基于膜计算粒子群优化的FastSLAM算法改进

韩涛; 黄友锐; 周宁亚; 徐善永; 许家昌; 鲍士水

doi:10.13568/j.cnki.651094.651316.2019.09.17.0002

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基于膜计算粒子群优化的FastSLAM算法改进

更新时间：2026-01-21

- 基于膜计算粒子群优化的FastSLAM算法改进
- Journal of Xinjiang University (Natural Science Edition in Chinese and English) Vol. 37, Issue 2, Pages: 156-162(2020)
- 作者机构：
  
  安徽理工大学电气与信息工程学院
- 作者简介：
- 基金信息：
- DOI：10.13568/j.cnki.651094.651316.2019.09.17.0002
  CLC： TP242;TP18
- Published：2020
- 稿件说明：
移动端阅览
[1]韩涛,黄友锐,周宁亚,等.基于膜计算粒子群优化的FastSLAM算法改进[J].新疆大学学报(自然科学版)(中英文),2020,37(02):156-162.
[1]韩涛,黄友锐,周宁亚,等.基于膜计算粒子群优化的FastSLAM算法改进[J].新疆大学学报(自然科学版)(中英文),2020,37(02):156-162. DOI： 10.13568/j.cnki.651094.651316.2019.09.17.0002.

DOI：10.13568/j.cnki.651094.651316.2019.09.17.0002.

摘要

针对FastSLAM算法存在的粒子退化和粒子多样性缺失问题

提出了一种基于膜计算粒子群优化的FastSLAM算法.该算法将膜计算和粒子群优化算法相结合

利用膜计算的并行性、分布式的特点和粒子群优化算法的简单高效的优点

加速调整FastSLAM算法中粒子群的建议分布向全局最优解处收敛

在保证算法局部搜索精度的同时

扩大搜索范围

提高全局搜索的多样性

促使预测粒子更快的朝着真实的机器人位姿状态逼近

减缓粒子退化.最后利用MATLAB平台进行仿真实验.实验结果表明该算法提高了FastSLAM算法的定位精度

同时减少了系统运行时间

效率得到有效提高.

Abstract

In order to solve the problem of particle degradation and lack of diversity in traditional FastSLAM algorithm

a FastSLAM algorithm based on Particle Swarm Optimization for membrane computing was proposed.This algorithm combines membrane computing with particle swarm optimization(PSO).By taking advantage of the strong parallelism and distributed characteristics of membrane computing and the simple and efficient advantages of PSO

the proposed distribution of particle swarm in FastSLAM algorithm can be adjusted to converge to the global optimal solution

and the local search accuracy of the algorithm can be guaranteed while enlarging.The search range improves the diversity of global search

promotes the predicted particles to approach the real robot position and posture faster

and slows down the particle degradation.Finally

the simulation experiment is carried out on the platform of MATLAB.The experimental results show that the algorithm improves the positioning accuracy of FastSLAM algorithm

reduces the running time of the system

and improves the efficiency effectively.

关键词

Keywords

references

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