Particle swarm optimization based map building for monocular vision mobile robots
Ling Li · Microcomputer Information · 2009
A global map building approach based on particle swarm optimization (PSO) is presented.This algorithm has a simple model, low complexity, and rapid convergency. Firstly, the model for experiment is described. Based on it, the formula of landmarks ’ coordinates and the key of this problem is given. Then the principal of PSO and its realization in map building are discussed in detail. At last, compared with the experiment result by Arithmetic average algorithm, particle swarm optimization algorithm is provided to be effective and practical in map building.