Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM)

Chun Hsiao Yeh, Herng Hua Chang, Chen Chien Hsu, Wei Yen Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a simultaneous localization and mapping (SLAM) algorithm incorporating a dynamic switching mechanism to switch between FastSLAM 1.0 and 2.0, based on a threshold of effective sample size (ESS). By taking advantages of FastSLAM 1.0 and 2.0 through the proposed dynamic switching mechanism, execution efficiency is significantly improved while maintaining an acceptable accuracy of estimations. To show the effectiveness of our proposed approach in comparison to FastSLAM 1.0 and 2.0, several simulations are demonstrated in this paper.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
EditorsFakhri Karray, Jong-Hwan Kim, Hyun Myung, Jun Jo, Peter Sincak
PublisherSpringer Verlag
Pages55-64
Number of pages10
ISBN (Print)9783319312910
DOIs
Publication statusPublished - 2017 Jan 1
Event4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015 - Bucheon, Korea, Republic of
Duration: 2015 Dec 142015 Dec 16

Publication series

NameAdvances in Intelligent Systems and Computing
Volume447
ISSN (Print)2194-5357

Other

Other4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
CountryKorea, Republic of
CityBucheon
Period15/12/1415/12/16

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Keywords

  • Extended kalman filter
  • FastSlam
  • Particle filter

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Yeh, C. H., Chang, H. H., Hsu, C. C., & Wang, W. Y. (2017). Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM). In F. Karray, J-H. Kim, H. Myung, J. Jo, & P. Sincak (Eds.), Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications (pp. 55-64). (Advances in Intelligent Systems and Computing; Vol. 447). Springer Verlag. https://doi.org/10.1007/978-3-319-31293-4_5