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摘要: 粒子退化现象是影响粒子滤波器性能的一个重要因素. 本文针对粒子退化, 将遗传机制应用于粒子重采样, 以进化设计解决退化问题. 分析并给出了平衡粒子集的有效性与多样性的手段以取得最佳性能的遗传粒子滤波结构的方法.Abstract: Particle degeneration is a key issue in the performance of a particle filter. In this paper we introduce genetic mechanism into particle resampling process. It is shown that the new particle filter can effectively eliminate particle degeneration and reduce its dependency on the particle validity. Furthermore, the new genetic particle filter can be optimized by three key genetic factors--selection, crossover and mutation probabilities.
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Key words:
- Particle filter /
- particle degeneration /
- genetic mechanism /
- effective particle /
- diversiform particle
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