Particle filtering for WSN aided SLAM

Yangming Li, Max Q.H. Meng, Huawei Liang, Shuai Li, Wanming Chen

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

7 Citations (Scopus)

Abstract

the paper proposed a particle filter based and Wireless Sensor Networks (WSN) aided Simultaneous Localization and Mapping (SLAM) strategy. The proposed method aims at solving two troublesome problems in the traditional particle filter based SLAM algorithms. The first problem is high dimension of question space; and the second one is multi-date association. Firstly, the paper analysed the model of the WSN aided SLAM problem. Then noises in the model were analysed. According to analyses, a particle filtering algorithm was developed as the kernel algorithm for data fusion. Detailed procedures of the particle filter were introduced. Besides, all key steps, including initialization, prediction, sequential importance sampling and also resampling, were especially specified. Software simulations were done to analyse and prove the validity and the efficiency of the proposed method. The simulation results supported that the proposed method can diminish dimensions of the SLAM problem and resolve the multi-data association problems. Moreover, through adopting PF algorithm and involving WSN, following advantages were also acquired: firstly, the method could locate blind nodes in WSN with high resolution while no anchor node was available; secondly, it could improve precision of localization and mapping for mobile robots and, especially, it could inhibit error accumulation of dead reckoning without requirement of close-loop.
Original languageEnglish
Title of host publicationProceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages740-745
Number of pages6
DOIs
Publication statusPublished - 30 Sep 2008
Externally publishedYes
Event2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China
Duration: 2 Aug 20085 Aug 2008

Conference

Conference2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Country/TerritoryChina
CityXi'an
Period2/08/085/08/08

Keywords

  • Mobile robots
  • Particle filter
  • Simultaneous Localization and Mapping (SLAM)
  • Wireless Sensor Networks (WSN)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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