Study on Application of STF in Mobile Robot SLAM

Author

Zeng Jing ; Jing, Zeng ; Song Hai-tao ; Zhang Ghuo-liang

Author_Institution

Dept. of Mathematic & Oper. Res., Xi´´an Hi-tech Inst., Xi´´an, China

fYear

2009

fDate

19-20 Dec. 2009

Firstpage

1

Lastpage

4

Abstract

According to the operation characteristics of mobile robots, the common SLAM methods of robot are analyzed and the it is proposed that STF can be applied in SLAM of mobile robots. Combining the advantages of STF arithmetic, the problems in surroundings mapping and robot localization such as unknown robot model and discontinuity of state change and so on are solved by introducing gradually eliminating factor. Experimental results show that the localization with this method is more precise than that with other methods, and thus can satisfy the requirement of SLAM in large scale indoor environment.

Keywords

mobile robots; tracking filters; large scale indoor environment; mobile robot SLAM method; robot localization; robot mapping; simultaneous localization and mapping; strong tracking filter; unknown robot model; Arithmetic; Convergence; Fading; Mathematics; Mobile robots; Nonlinear filters; Operations research; Partial response channels; Simultaneous localization and mapping; State estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-4994-1

Type

conf

DOI

10.1109/ICIECS.2009.5363471

Filename

5363471