Affiliation:
1. Faculty of Information Science and Engineering, Ocean University of China, Qingdao 266100, China
2. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Abstract
Simultaneous localization and mapping (SLAM) is crucial and challenging for autonomous underwater vehicle (AUV) autonomous navigation in complex and uncertain ocean environments. However, inaccurate time-varying observation noise parameters may lead to filtering divergence and poor mapping accuracy. In addition, particles are easily trapped in local extrema during the resampling, which may lead to inaccurate state estimation. In this paper, we propose an innovative simulated annealing particle swarm optimization-adaptive unscented FastSLAM (SAPSO-AUFastSLAM) algorithm. To cope with the unknown observation noise, the maximum a posteriori probability estimation algorithm is introduced into SLAM to recursively correct the measurement noise. Firstly, the Sage–Husa (SH) based unscented particle filter (UPF) algorithm is proposed to estimate time-varying measurement noise adaptively in AUV path estimation for improving filtering accuracy. Secondly, the SH-based unscented Kalman filter (UKF) algorithm is proposed to enhance mapping accuracy in feature estimation. Thirdly, SAPSO-based resampling is proposed to optimize posterior particles. The random judgment mechanism is used to update feasible solutions iteratively, which makes particles disengage local extreme values and achieve optimal global effects. The effectiveness and accuracy of the proposed algorithm are evaluated through simulation and sea trial data. The average AUV navigation accuracy of the presented SAPSO-AUFastSLAM method is improved by 18.0% compared to FastSLAM, 6.5% compared to UFastSLAM, and 5.9% compared to PSO-UFastSLAM.
Funder
National Laboratory of Marine Science and Technology Pilot of Shandong Provincial Ocean Science and Technology Foundation
the National Key Research and Development Program of China
Subject
Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering
Reference49 articles.
1. AUV navigation and localization: A review;Paull;IEEE J. Ocean. Eng.,2013
2. Development of autonomous underwater vehicle (AUV) for exploring deep sea marine mineral resources;Wakita;Mitsubishi Heavy Ind. Tech. Rev.,2010
3. YOLOv5-Tassel: Detecting tassels in RGB UAV imagery with improved YOLOv5 based on transfer learning;Liu;IEEE J. Sel. Top. Appl. Earth Obs. Remote Sens.,2022
4. Xia, X., Meng, Z., Han, X., Li, H., Tsukiji, T., Xu, R., and Ma, J. (2022). Automated Driving Systems Data Acquisition and Processing Platform. arXiv.
5. Improved vehicle localization using on-board sensors and vehicle lateral velocity;Gao;IEEE Sens. J.,2022
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献