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Authors: Luciano Buonocore 1 ; Sergio R. Barros dos Santos 2 ; Areolino de Almeida Neto 1 ; Alexandre C. M. Oliveira 1 and Cairo L. Nascimento Jr. 2

Affiliations: 1 Federal University of Maranhão, Brazil ; 2 Division of Electronic Engineering and Instituto Tecnológico de Aeronáutica, Brazil

Keyword(s): FastSLAM Filter, Particle Weighting, Mobile Robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 322-328. DOI: 10.5220/0006421903220328

@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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress

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