A Multi Swarm Particle Filter for Mobile Robot Localization

Abstract

Particle filter (PF) is widely used in mobile robot localization, since it is suitable for the nonlinear nonGaussian system. Localization based on PF, However, degenerates over time. This degeneracy is due to the fact that a particle set estimating the pose of the robot looses its diversity. One of the main reasons for loosing particle diversity is sample… (More)

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