Enhanced simultaneous localization and map building

Tung Yuan Lin, Chen Chien Hsu, Wei-Yen Wang, Yin Tien Wang

研究成果: 書貢獻/報告類型會議論文篇章

1 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
發行者Institute of Electrical and Electronics Engineers Inc.
頁面122-127
頁數6
ISBN(電子)9781479945849
DOIs
出版狀態已發佈 - 2014 四月 28
事件2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, 臺灣
持續時間: 2014 十一月 262014 十一月 28

出版系列

名字CACS 2014 - 2014 International Automatic Control Conference, Conference Digest

其他

其他2014 International Automatic Control Conference, CACS 2014
國家/地區臺灣
城市Kaohsiung
期間2014/11/262014/11/28

ASJC Scopus subject areas

  • 控制與系統工程

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