关键词: 快速同步定位与地图创建（FastSLAM）, 重采样, 模糊逻辑

Abstract: In order to mend the problem of FastSLAM algorithm，such as adopting fixed sample number which results in the low efficiency of the algorithm when the state uncertainty of mobile robot is quite high，and the sample depletion is brought on by the resample step，this paper adopts fuzzy logic to adjust the number of particles dynamically and only resamples when it is necessary.Theoretical analysis and simulation experiments show that the algorithm has higher estimation accuracy and consistency.

Key words: Fast Simultaneous Localization And Map building（SLAM）, resample, fuzzy logic