关键词: FastSLAM算法, 差分粒子滤波器, 差分滤波器, 同时定位与地图创建, 重采样

Abstract: A simultaneous localization and mapping method was brought forward based on Divided Difference Particle Filter-Divided Difference Filter (DDPF-DDF) in allusion to the high complexity problem of FastSLAM improvement algorithm. This method adopted DDPF to estimate the path of robot and DDF to estimate the landmark position. It also adopted selectable resample to lower the probability of sample deletion. The experimental results indicate that the method has high precision, good consistency and moderate complexity.

Key words: FastSLAM algorithm, Divided Difference Particle Filter (DDPF), Divided Difference Filter (DDF), simultaneous localization and mapping, resample