Research on simultaneous localization and mapping for AUV by an improved method:Variance reduction FastSLAM with simulated annealing  

作　　者：Jiashan Cui Dongzhu Feng Yunhui Li Qichen Tian 

机构地区：[1]School of Aerospace Science and Technology,Xidian University,Xi’an 710126,China [2]Key Laboratory of Equipment Efficiency in Extreme Environment,Ministry of Education,Xi’an 710126,China [3]School of Astronautics,Harbin Institute of Technology,Harbin 150010,China

出　　处：《Defence Technology（防务技术）》2020年第3期651-661,共11页Defence Technology

基　　金：supported by the National Science Fund of China under Grants 61603034;China Postdoctoral Science Foundation under Grant 2019M653870XB;Beijing Municipal Natural Science Foundation (3182027);Fundamental Research Funds for the Central Universities,China,FRF-GF-17-B44,and XJS191315

摘　　要：At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method of variance reduction fast simultaneous localization and mapping(FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation,particle depletion and particle loss in traditional FastSLAM,which lead to the reduction of AUV location estimation accuracy.The adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace resampling.By increasing the weight of small particles and decreasing the weight of large particles,the variance of particle weight can be reduced,the number of effective particles can be increased,and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by particles.The experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation,maintains the diversity of particles,weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system.

关 键 词：Autonomous underwater vehicle(AUV) SONAR Simultaneous localization and mapping(SLAM) Simulated annealing FASTSLAM 

分 类 号：U674.941[交通运输工程—船舶及航道工程]