A New Particle Weighting Strategy for Robot Mapping FastSLAM

Luciano Buonocore, Sergio R. Barros dos Santos, Areolino de Almeida Neto, Alexandre C. M. Oliveira, Cairo L. Nascimento Jr.

Abstract

Nowadays, FastSLAM filters are the most widely used methods to solve the Simultaneous Localization and Mapping (SLAM) problem. In general, these approaches can use complex matrix formulation for computing the particle weighting procedure, during the execution of the SLAM algorithm. In this paper, we describe a new particle weight strategy for the FastSLAM filter, which can maintain the generation of particles in its most simplified form. Thus, this approach tries to estimate the robot poses and build the environment map using a simple geometric formulation for executing the particle weighting procedure. This method is capable of reducing the processing time and keeping the accuracy of the robot pose. Both simulation and experimental results demonstrate the feasibility of the proposed approach at enabling a robotic vehicle to accomplish the mapping of an unknown environment and also navigate through it.

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Paper Citation


in Harvard Style

Buonocore L., Barros dos Santos S., de Almeida Neto A., Oliveira A. and Nascimento Jr. C. (2017). A New Particle Weighting Strategy for Robot Mapping FastSLAM . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 322-328. DOI: 10.5220/0006421903220328


in Bibtex Style

@conference{icinco17,
author={Luciano Buonocore and Sergio R. Barros dos Santos and Areolino de Almeida Neto and Alexandre C. M. Oliveira and Cairo L. Nascimento Jr.},
title={A New Particle Weighting Strategy for Robot Mapping FastSLAM},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={322-328},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006421903220328},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A New Particle Weighting Strategy for Robot Mapping FastSLAM
SN - 978-989-758-264-6
AU - Buonocore L.
AU - Barros dos Santos S.
AU - de Almeida Neto A.
AU - Oliveira A.
AU - Nascimento Jr. C.
PY - 2017
SP - 322
EP - 328
DO - 10.5220/0006421903220328