用概率假设密度滤波实现同步定位与地图创建

杜航原; 郝燕玲; 赵玉新; 杨永鹏

doi:10.3788/OPE.20111912.3064

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用概率假设密度滤波实现同步定位与地图创建

信息科学 | 更新时间：2020-08-12

- 用概率假设密度滤波实现同步定位与地图创建
- Implementation of SLAM by probability hypothesis density filter
- 光学精密工程 2011年19卷第12期页码：3064-3073
- 作者机构：
  
  哈尔滨工程大学自动化学院,黑龙江哈尔滨,150001
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目(No.60904087)();黑龙江省博士后科研启动基金资助项目(No.LBH-Q09127)()
- DOI：10.3788/OPE.20111912.3064
  中图分类号： TP242.6
- 收稿日期：2011-06-02，
  
  修回日期：2011-08-18，
  
  网络出版日期：2011-12-25，
  
  纸质出版日期：2011-12-25
- 稿件说明：
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杜航原, 郝燕玲, 赵玉新, 杨永鹏. 用概率假设密度滤波实现同步定位与地图创建[J]. 光学精密工程, 2011,19(12): 3064-3073

DU Hang-yuan, HAO Yan-ling, ZHAO Yu-xin, YANG Yong-peng. Implementation of SLAM by probability hypothesis density filter[J]. Editorial Office of Optics and Precision Engineering, 2011,19(12): 3064-3073
杜航原, 郝燕玲, 赵玉新, 杨永鹏. 用概率假设密度滤波实现同步定位与地图创建[J]. 光学精密工程, 2011,19(12): 3064-3073 DOI： 10.3788/OPE.20111912.3064.

DU Hang-yuan, HAO Yan-ling, ZHAO Yu-xin, YANG Yong-peng. Implementation of SLAM by probability hypothesis density filter[J]. Editorial Office of Optics and Precision Engineering, 2011,19(12): 3064-3073 DOI： 10.3788/OPE.20111912.3064.

摘要

针对杂波环境中传统同步定位与地图创建(SLAM)算法无法有效表达传感器多种信息以及容易发生错误数据关联的问题

提出一种基于概率假设密度滤波的SLAM算法。该算法将每一时刻传感器的观测信息和环境地图表示为随机有限集

建立联合目标状态变量;通过概率假设密度(PHD)滤波对机器人位姿和环境地图状态进行同时估计

并利用粒子滤波实现PHD滤波。在进行目标状态提取时

为避免聚类算法引入的误差

对粒子集进行时滞输出。提出的SLAM算法能准确表达观测的不确定性、漏检以及杂波引起的虚警等多种传感器信息

且避免了数据关联过程

使系统状态估计更接近真实值。仿真实验结果表明:与传统SLAM算法相比

新算法的机器人定位及环境构图精度提高了50%以上

为杂波环境下SLAM问题的研究提供了新的途径。

Abstract

Traditional Simultaneous Localization and Mapping(SLAM) algorithm is lack of the ability to describe multiple sensor information accurately in a clutter environment

and it is prone to false data association. Therefore

this paper proposes a SLAM algorithm based on Probability Hypothesis Density (PHD) filter to deal with these problems. By taking the sensor observation and environmental map as random finite sets in every time step

a joint target state variable is constructed. Then

with the Probability Hypothesis Density(PHD) filtering

the poses and environmental map of the robot are estimated simultaneously and the PHD filter is realized by a particle filter. To avoid the error caused by cluster

a time-delay particle set outputting approach is proposed for joint target state extracting. The new algorithm can describe the observation uncertainty

loss detecting

false alarm due to a clutter and other sensor information accurately

and also can avoid the data association

by which the system state estimation is closer to real values. The simulation results show that the accuracy of the new algorithm in the vehicle localization and mapping is improved by more than 50% as compared with that of traditional SLAM algorithm. It provides a new solution for SLAM problems in the clutter environment.

关键词

Keywords

references

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