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A slam data association method based on max-min ant system optimization

A technology of maximum and minimum ants and data association, applied to systems based on fuzzy logic, etc.

Active Publication Date: 2018-11-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a data association method based on the optimization of the maximum and minimum ant system in view of the defects involved in the background technology, so that the accuracy and real-time performance of data association are improved, effectively solving SLAM data association problems for mobile robots

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  • A slam data association method based on max-min ant system optimization
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  • A slam data association method based on max-min ant system optimization

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Embodiment Construction

[0059] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0060] The present invention is mainly composed of three parts: the first part uses threshold filtering to narrow the solution space range of data association and improves the search efficiency of the algorithm; the second part transforms the data association problem into an optimal path solving problem, and uses The model represents the associated path nodes; in the third part, the max-min ant system is combined with the joint maximum likelihood criterion, and the joint maximum likelihood value of the data association hypothesis is used as the objective function for path search.

[0061] In this embodiment, for the convenience of description, MMAS-JML is used to represent the joint maximum likelihood data association method optimized by the maximum and minimum ant system, ML is used to represent the maximum likelihood data association method, and A...

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Abstract

The invention discloses an SLAM (Simultaneous Localization and Mapping) data association method based on maximum-minimum ant system optimization. The SLAM data association method based on maximum-minimum ant system optimization includes the steps: utilizing examination threshold filtering to reduce the solution space range associated with data, and improving the search efficiency of an algorithm; converting a data association problem into an optimal path solution problem, and utilizing an explanation tree model to stand for an association path node; and combining a maximum-minimum ant system with a combination maximum likelihood criterion, and taking a combination maximum likelihood value assumed by data association as a target function to perform path search. The SLAM data association method based on maximum-minimum ant system optimization reduces the association solution space of data association, can improve the search efficiency of the algorithm, and can effectively make up the defect that the ant colony algorithm is low in the rate of convergence, and stagnates in search and is easy to fall into local optimum.

Description

technical field [0001] The invention relates to the field of autonomous navigation of robots, in particular to a SLAM data association method based on maximum and minimum ant system optimization. Background technique [0002] The problem of Simultaneous Localization and Mapping (SLAM) can be described as that in an unknown prior information environment, the mobile robot uses the installed sensors to construct an incremental map, and at the same time performs its own positioning according to the map and position estimation. The key technical issues for robots to realize fully autonomous navigation are also the focus and hotspot of current research in the field of mobile robots. As an important part of the SLAM problem, data association establishes the correspondence between sensor measurements and feature maps obtained at different times and in different locations. However, in the actual SLAM process, the association accuracy and computational complexity of the data associat...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06N7/06
CPCG06N7/06
Inventor 康升征吴洪涛杨小龙李耀
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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