Fast localization method of autonomous mobile robots based on particle filtering

ZHENG Lili; SUN Wei; LIU Mingming

doi:10.13873/J.1000-9787(2020)10-0031-04

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Fast localization method of autonomous mobile robots based on particle filtering

更新时间：2025-09-11

- Fast localization method of autonomous mobile robots based on particle filtering
- Issue 10, Pages: 31-34(2020)
- 作者机构：
  
  1. 中国矿业大学信息与控制工程学院
  2. 江苏建筑职业技术学院智能制造学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2020)10-0031-04
  CLC： TN713;TP242
- Published：2020
- 稿件说明：
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ZHENG Lili, SUN Wei, LIU Mingming. Fast localization method of autonomous mobile robots based on particle filtering[J]. 2020, (10): 31-34.
DOI：

ZHENG Lili, SUN Wei, LIU Mingming. Fast localization method of autonomous mobile robots based on particle filtering[J]. 2020, (10): 31-34. DOI： 10.13873/J.1000-9787(2020)10-0031-04.

摘要

针对粒子滤波定位的计算量和占用内存过大的问题

提出了一种基于栅格地图预处理的加速粒子滤波方法

使自主移动机器人可快速定位并减少内存占用。地图预处理阶段

按照设定的地图分辨率

对每个坐标的每个角度计算并存储最近障碍物的距离

得到查找表的结果;粒子滤波阶段

使用图形处理器(GPU)并行维护粒子

并直接从改进的查找表中查找粒子周围障碍物距离信息

用于计算粒子权重。实验结果表明

该方法占用的内存更少且定位速度也得到明显的提高。

Abstract

Aiming at the problem of amount of calculation of particle filtering positioning and excessive memory usage

an accelerated particle filtering method based on raster map preprocessing is proposed to enable autonomous mobile robots to quickly locate and reduce memory usage. In the map preprocessing stage

according to the set map resolution

the distance of the nearest obstacle is calculated and stored for each angle of each coordinate

and the result of the lookup table is obtained; in the particle filtering stage

the graphics processing unit（ GPU） is used to maintain the particles in parallel. The distance information of obstacles around particles can be searched from the improved lookup table

and then used to calculate the weight of particles. The experimental results show that the method occupies less memory and the positioning speed is also significantly improved.

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