Improved Particle Filtering Based on Biogeography-based Optimization for UGV Navigation
نویسندگان
چکیده
The main challenge with particle filtering is particle degeneracy and the accurate estimation cannot be achieved generally because of serious impoverishment problem, although resampling operation could solve degeneracy to a certain extent. In this paper, we propose an improved particle filtering approach based on biogeography-based optimization (BBO) algorithm, called BBO-PF, for state estimation of nonlinear and non-Gaussian dynamic system. The novel BBO-PF significantly reduces the degeneracy. The experimental results obtained by applying the BBO-PF to estimate the trajectory of unmanned ground vehicle validate the performance of our approach.
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