A new FastSLAM algorithm based on the unscented particle filter

摘要

With the development of the artificial intelligence technology, mobile robots have been widely applied to various fields, such as human-computer interaction and self-cruise. Simultaneous localization and mapping is a key to realize the intelligent navigation. Based on the previous research fruits, this paper listed a construction method using lidar, and introduced the SLAM algorithm of the unscented particle filter to make the constructed maps more precise. In this method, the lidar is first used to scan the indoor environment, and then the collected data is adopted to fit the indoor map. Finally, the accurate information is shown in the experimental section.