Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization

	Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization
	Zhao, Zeng-Shun 1,2; Feng, Xiang 1; Lin, Yan-yan 1; Wei, Fang 1; Wang, Shi-Ku 1; Xiao, Tong-Lu 1; Cao, Mao-Yong 1; Hou, Zeng-Guang3 ; Tan, Min3
发表期刊	JOURNAL OF APPLIED MATHEMATICS
	2013
文章类型	Article
摘要	The 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标题词	Science & Technology ; Physical Sciences
关键词[WOS]	TRACKING
收录类别	SCI
语种	英语
WOS研究方向	Mathematics
WOS类目	Mathematics, Applied
WOS记录号	WOS:000324202800001
引用统计	被引频次：28[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3500
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.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
推荐引用方式 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).