Publication
uFA-FastSLAM: The New Hybrid of Firefly Algorithm and FastSLAM Algorithm
uFA-FastSLAM: The New Hybrid of Firefly Algorithm and FastSLAM Algorithm
Simultaneous Localization and Mapping (SLAM) is a challenging and fundamental issue in autonomous mobile robots. One of two main solutions of SLAM problem is FastSLAM. In terms of accuracy, FastSLAM is known to degenerate over time. This work hybridized Firefly Algorithm (FA) and FastSLAM to optimize FastSLAM. But in FA, there is a ranking process which ranked the fireflies based on their light intensity. It caused the output needed by particles in FastSLAM came in different sequence. Thus, the FA in this work is modified before it is applied to FastSLAM, the ranking process is deleted. The result has shown that the modified FA, that is unranked Firefly Algorithm (uFA) has been successfully hybridized with FastSLAM.