@inproceedings{7d3dc6068ded41ac89e4e8d35e9464b2,
title = "PSO-FastSLAM: An improved FastSLAM framework using particle swarm optimization",
abstract = "FastSLAM is a framework which solves the problem of simultaneous localization and mapping using a Rao-Blackwellized particle filter. Conventional FastSLAM is known to degenerate over time in terms of accuracy due to the particle depletion in resampling phase. In this work, a new FastSLAM framework is proposed to prevent the degeneracy by particle cooperation. First, after resampling phase, a target that represents an estimated robot position is computed using the positions of particles. Then, particle swarm optimization is performed to update the robot position by means of particle cooperation. Computer simulations revealed that the proposed framework shows lower RMS error in both robot and feature positions than conventional FastSLAM.",
keywords = "FastSLAM, Mobile robot, Particle filter, Particle swarm optimization",
author = "Lee, \{Heon Cheol\} and Park, \{Shin Kyu\} and Choi, \{Jeong Sik\} and Lee, \{Beom Hee\}",
year = "2009",
doi = "10.1109/ICSMC.2009.5346572",
language = "English",
isbn = "9781424427949",
series = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics",
pages = "2763--2768",
booktitle = "Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009",
note = "2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 ; Conference date: 11-10-2009 Through 14-10-2009",
}