On SLAM algorithm combined with entropy probability DDF II

Dandan Wang, Gannan Yuan, Tao Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the view of the traditional linearization of nonlinear function in the inaccurate filtering process, the second order striling polynomial interpolation method was proposed to approximate the state quantity digital characteristics. The control input was redefined in this paper. Combined with the second order interpolation, it implemented the optimal control. The entropy probability filtering algorithm mentioned in this paper provides a new idea for the filtering process applied in SLAM. The simulation experiments showed that the second order interpolation filtering algorithm had a higher filtering precision, and the new information mean and variance tended to be zero with a faster convergence rate when the system was stable. The mean of ranging and angle measured of the new information based on entropy probability with divided difference filter II (DDF II) could be reached to stability as short as in two minutes, which were controlled in 0.1 m and 0.3 m.

Original languageEnglish
Title of host publicationProceedings of the 34th Chinese Control Conference, CCC 2015
EditorsQianchuan Zhao, Shirong Liu
PublisherIEEE Computer Society
Pages5437-5441
Number of pages5
ISBN (Electronic)9789881563897
DOIs
Publication statusPublished - 2015 Sep 11
Externally publishedYes
Event34th Chinese Control Conference, CCC 2015 - Hangzhou, China
Duration: 2015 Jul 282015 Jul 30

Publication series

NameChinese Control Conference, CCC
Volume2015-September
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Other

Other34th Chinese Control Conference, CCC 2015
Country/TerritoryChina
CityHangzhou
Period15/7/2815/7/30

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modelling and Simulation

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