Optimal Taxis Resample Algorithm and Computer Simulation

Resampling procedure in Particle Filter aims for degradation of swarm of particle.Basic resampling method-SIR is capable of alleviating particle degeneration,but poses particles impoverishment at the same time.Less diversity has severe consequence in the filter estimation accuracy.Various resample approaches have been developed in recent years,including multi-nominal resample,residual resample,stratified resample and systematic resample.All of them,however,will inevitably lead to the losing of diversity in scatter of particles because they simply replace lower weighed particles with higher weighed particles.In this paper,an optimal taxis resampling algorithm is presented.It is suggested that inferior particles move towards the direction of superior ones and distributed around latter.By doing so,diversity of particles is well kept.It is indicated by the simulations that the proposed optimal taxis resampling method improves the performance of Particle Filter.