CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization
Zhao, Zeng-Shun1,2; Feng, Xiang1; Lin, Yan-yan1; Wei, Fang1; Wang, Shi-Ku1; Xiao, Tong-Lu1; Cao, Mao-Yong1; Hou, Zeng-Guang3; Tan, Min3
Source PublicationJOURNAL OF APPLIED MATHEMATICS
2013
SubtypeArticle
AbstractThe Rao-Blackwellized particle filter (RBPF) algorithm usually has better performance than the traditional particle filter (PF) by utilizing conditional dependency relationships between parts of the state variables to estimate. By doing so, RBPF could not only improve the estimation precision but also reduce the overall computational complexity. However, the computational burden is still too high for many real-time applications. To improve the efficiency of RBPF, the particle swarm optimization (PSO) is applied to drive all the particles to the regions where their likelihoods are high in the nonlinear area. So only a small number of particles are needed to participate in the required computation. The experimental results demonstrate that this novel algorithm is more efficient than the standard RBPF.
WOS HeadingsScience & Technology ; Physical Sciences
WOS KeywordTRACKING
Indexed BySCI
Language英语
WOS Research AreaMathematics
WOS SubjectMathematics, Applied
WOS IDWOS:000324202800001
Citation statistics
Cited Times:21[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3500
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Shandong Univ Sci & Technol, Coll Informat & Elect Engn, Shandong Prov Key Lab Robot & Intelligent Technol, Qingdao 266590, Peoples R China
2.Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100090, Peoples R China
Recommended Citation
GB/T 7714
Zhao, Zeng-Shun,Feng, Xiang,Lin, Yan-yan,et al. Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization[J]. JOURNAL OF APPLIED MATHEMATICS,2013.
APA Zhao, Zeng-Shun.,Feng, Xiang.,Lin, Yan-yan.,Wei, Fang.,Wang, Shi-Ku.,...&Tan, Min.(2013).Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization.JOURNAL OF APPLIED MATHEMATICS.
MLA Zhao, Zeng-Shun,et al."Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization".JOURNAL OF APPLIED MATHEMATICS (2013).
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