Improved SLAM algorithm using fuzzy filter and curvature data association

Yan Jhang Shih, Chen-Chien James Hsu, Wei-Yen Wang, Yin Tien Wang

研究成果: 書貢獻/報告類型會議論文篇章

2 引文 斯高帕斯(Scopus)

摘要

The issue of simultaneous localization and mapping (SLAM) is an excellent technology. Normally, the current measurements need to be compared with all existing landmarks. However, the accuracy of the estimated location of the robot will decrease because of incorrect data association. To solve these problems, this paper presents a novel architecture for SLAM. The fuzzy filter and curvature data are used to filter current measurement to retain special measurements and avoid wrong landmarks. In addition, triangulation is used to improve the accuracy of the robot's location. The effectiveness of the proposed algorithm is showed by means of simulation results.

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113-116
頁數4
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

其他

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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