Particle Filter and Finite Impulse Response Filter Fusion and Hector SLAM to Improve the Performance of Robot Positioning

<table class="fixed-width table-group" id="tab1"><tr><td><table class="table"><colgroup><col style="width:10.54em"/><col style="width:6.74em"/></colgroup><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Experiment (scenario)</td><td class="align_center">Improvement</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left">Kidnapped Robot</td><td class="align_center">14.56%</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left">Dynamic map</td><td class="align_center">12.33%</td></tr><tr><td class="align_left" colspan="2"><hr/></td></tr><tr><td class="align_left">360 beam reading laser</td><td class="align_center">11.8%</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Decrease or increase of the hybrid PR/FIR filter in relation to PF only scenarios.</div>

Journal of Robotics

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Table 1

Table 1: Particle Filter and Finite Impulse Response Filter Fusion and Hector SLAM to Improve the Performance of Robot Positioning 