Robot positioning and mapping method and device based on firefly optimized particle filtering

• Main Authors: ZHANG YU, QIN LUNMING, LIU HAO, YANG QIANGQIANG, BIAN ZHENGLAN, TANG ZHONG, CUI HAOYANG
• Format: Patent
• Language: Chinese; English
• Published: 20.09.2019
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention relates to a robot positioning and mapping method and device based on firefly optimized particle filtering. The method comprises: S1, obtaining particles at the initial sampling moment; S2, obtaining a target value at the moment t through a robot motion model and an observation model, and obtaining a particle set at the moment t through importance sampling; S3, optimizing the positions of the sampling particles by utilizing an improved firefly algorithm, and respectively obtaining optimized positions of all the particles at the t + 1 moment; S4, calculating the weight of the optimized particles, performing normalization, screening effective particles, and performing resampling based on the effective particles until the total number of the particles reaches a set number; and S5, performing robot pose and environment estimation according to the particle swarm obtained in the step S4. Compared with the prior art, The problems of low convergence speed, easiness in oscillation near an extreme point a