%0 Journal Article
%T 机器人定位中的自适应粒子滤波算法
%A 蒋正伟
%A 谷源涛
%J 自动化学报
%P 833-838
%D 2005
%X ？Theresearchofrobotlocalizationaimsataccuracy,simplicityandrobustness.Thisarticleimprovestheperformanceofparticlefiltersinrobotlocalizationviatheutilizationofnoveladaptivetechnique.Theproposedalgorithmintroducesprobabilityretracingtoinitializeparticlesets,usesconsecutivewindowfilteringtoupdateparticlesets,andrefreshesthesizeofparticlesetaccordingtotheestimationstate.Extensivesimulationsshowthattheproposedalgorithmismuchmoreeffectivethanthetraditionalparticlefilters.Theproposedalgorithmsuccessfullysolvesthenonlinear,non-Gaussianstateestimationproblemofrobotlocalization.
%K Robotlocalization
%K particlefilters
%K K-Ldistance
%K probabilityretrieval
%U http://www.aas.net.cn/CN/abstract/abstract15939.shtml