Grey Wolf Resampling-Based Rao-Blackwellized Particle Filter for Mobile Robot Simultaneous Localization and Mapping

Algorithm 1

The Rao–Blackwellization for filtering algorithm.

	Step 1: initialization. For i = 1, 2, …, N, and set , set .
	Step 2: PF measurement update. For i = 1, 2, …, N, and normalize .
	Step 3: resample N particles with replacement. .
	Step 4: PF time update and KF.
(a)	KF measurement update:
(b)	PF time update. For i = 1, 2, …, N, predict new practices .
(c)	PF time update. Set .
	Step 5: increase time and repeat from step 2.