TY - GEN
T1 - Enhanced simultaneous localization and map building
AU - Lin, Tung Yuan
AU - Hsu, Chen Chien
AU - Wang, Wei Yen
AU - Wang, Yin Tien
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/28
Y1 - 2014/4/28
N2 - FastSLAM is a well-known algorithm with its purpose to process the simultaneous localization and mapping (SLAM). There are two main FastSLAM algorithms, i.e., FastSLAM 1.0 and FastSLAM 2.0. However, the speed of execution is too slow due to the superabundant comparisons of every single existing landmarks. Thus computationally efficient SLAM (CESLAM) was presented to deal with the problem and to achieve the goal of real-time processing design. Nevertheless, there is a great possibility that large errors may occur, because the original CESLAM only takes odometer information to estimate the robot's pose in particles. Therefore, this paper not only utilizes the odometer information but also the measurement information from sensors. Finally, simulation results are illustrated that the modified version of CESLAM algorithm can effectively ameliorate the accuracy of localization and mapping.
AB - FastSLAM is a well-known algorithm with its purpose to process the simultaneous localization and mapping (SLAM). There are two main FastSLAM algorithms, i.e., FastSLAM 1.0 and FastSLAM 2.0. However, the speed of execution is too slow due to the superabundant comparisons of every single existing landmarks. Thus computationally efficient SLAM (CESLAM) was presented to deal with the problem and to achieve the goal of real-time processing design. Nevertheless, there is a great possibility that large errors may occur, because the original CESLAM only takes odometer information to estimate the robot's pose in particles. Therefore, this paper not only utilizes the odometer information but also the measurement information from sensors. Finally, simulation results are illustrated that the modified version of CESLAM algorithm can effectively ameliorate the accuracy of localization and mapping.
KW - CESLAM
KW - FastSLAM
KW - extended Kalman filter
KW - particle filter
UR - http://www.scopus.com/inward/record.url?scp=84949928812&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84949928812&partnerID=8YFLogxK
U2 - 10.1109/CACS.2014.7097174
DO - 10.1109/CACS.2014.7097174
M3 - Conference contribution
AN - SCOPUS:84949928812
T3 - CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
SP - 122
EP - 127
BT - CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 International Automatic Control Conference, CACS 2014
Y2 - 26 November 2014 through 28 November 2014
ER -