An improved FastSLAM2.0 algorithm based on ant colony optimization
Wen Shiguang, Yao Mingde, Chengdong Wu, Jun Li · 2017
Montemerlo et al. proposed an algorithm called FastSLAM2.0 as an efficient and robust solution to the simultaneous localization and mapping problem. We proposed an ant colony optimization based resampling method, which seriously reduces the problem of particle depletion. Simulation experimental results illustrate the advantages of our method over previous approach.