A NOVEL PARTICLE FILTER BASED SLAM

摘要

In this paper, a new approach to SLAM is proposed that is based on particle filter and soft computing techniques. In this approach, the robot pose is estimated based on unscented marginal particle filter (UMPF) and the static map is considered as parameters that are updated using soft computing. Significant improvement in the proposed method is observed in terms of accuracy of estimation and consistency compared to conventional methods. A number of simulations and experiments are presented to evaluate the algorithm's performance compared to conventional approaches.