Title :
On simulation and analysis of mobile robot SLAM using Rao-Blackwellized particle filters
Author :
Qi, Peng ; Wang, Lu
Author_Institution :
Center for Autonomous Syst., KTH R. Inst. of Technol., Stockholm, Sweden
Abstract :
The simultaneous localization and mapping (SLAM) is considered as a crucial prerequisite for purely autonomous mobile robots. In this paper, we demonstrate the mobile robot SLAM using Rao-Blackwellized particle filters (RBPF) through computer simulations under MATLAB platform, while an analytical investigation into the involved algorithms is presented. Then we make further comparisons, not only in parallel between the FastSLAM 1.0 and FastSLAM 2.0, also in vertical between FastSLAM performance and EKF-SLAM performance which used to be the dominant approach to the SLAM problem. Vivid simulations and numerical analysis make the paper illustrated with clarity and perception.
Keywords :
SLAM (robots); mobile robots; numerical analysis; particle filtering (numerical methods); robot vision; EKF-SLAM performance; FastSLAM 1.0; FastSLAM 2.0; MATLAB platform; Rao-Blackwellized particle filters; autonomous mobile robot SLAM; computer simulations; numerical analysis; simultaneous localization-and-mapping; Atmospheric measurements; Estimation; Mobile robots; Particle measurements; Robot kinematics; Simultaneous localization and mapping;
Conference_Titel :
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4577-1523-5
DOI :
10.1109/SII.2011.6147626
