Title :
Simultaneous Localization and Mapping with Particle Swarm Localization
Author :
Todor, B. ; Dárabos, Daiel
Author_Institution :
Dept. Of Meas. & Inf. Syst, Budapest Univ. of Technol. & Econ., Budapest
Abstract :
In this article the authors present a simultaneous localization and mapping (SLAM) method based on probability distribution function matching. The algorithm randomly samples the posteriori pdf based on the reverse models of the range sensors, and then uses a simple function matching method to evaluate pose suggestions, which are proposed by a modified version of the particle swarm optimization method.
Keywords :
SLAM (robots); mobile robots; particle swarm optimisation; path planning; random processes; statistical distributions; autonomous robot navigation; function matching; particle swarm localization; particle swarm optimization; probability distribution function matching; random sampling; range sensor; reverse models; simultaneous localization and mapping; Conferences; Data acquisition; Global Positioning System; Intelligent robots; Navigation; Orbital robotics; Particle swarm optimization; Robot sensing systems; Robotics and automation; Simultaneous localization and mapping; Particle swarm optimization; autonomous robot navigation; localization;
Conference_Titel :
Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005. IDAACS 2005. IEEE
Conference_Location :
Sofia
Print_ISBN :
0-7803-9445-3
Electronic_ISBN :
0-7803-9446-1
DOI :
10.1109/IDAACS.2005.282973
