An Improved FastSLAM System Based on Distributed Structure for Autonomous Robot Navigation

Joint Authors

Pei, Fu-jun
Li, Hao-yang
Cheng, Yu-hang

Source

Journal of Sensors

Issue

Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2014-10-23

Country of Publication

Egypt

No. of Pages

9

Main Subjects

Civil Engineering

Abstract EN

Fast simultaneous localization and mapping (FastSLAM) is an efficient algorithm for autonomous navigation of mobile vehicle.

However, FastSLAM must reconfigure the entire vehicle state equation when the feature points change, which causes an exponential growth in quantities of computation and difficulties in isolating potential faults.

In order to overcome these limitations, an improved FastSLAM, based on the distributed structure, is developed in this paper.

There are two state estimation parts designed in this improved FastSLAM.

Firstly, a distributed unscented particle filter is used to avoid reconfiguring the entire system equation in the vehicle state estimation part.

Secondly, in the landmarks estimation part, the observation model is designed as a linear one to update the landmarks states by using the linear observation errors.

Then, the convergence of the proposed and improved FastSLAM algorithm is given in the sense of mean square.

Finally, the simulation results show that the proposed distributed algorithm could reduce the computational complexity with high accuracy and high fault-tolerance performance.

American Psychological Association (APA)

Pei, Fu-jun& Li, Hao-yang& Cheng, Yu-hang. 2014. An Improved FastSLAM System Based on Distributed Structure for Autonomous Robot Navigation. Journal of Sensors،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1042959

Modern Language Association (MLA)

Pei, Fu-jun…[et al.]. An Improved FastSLAM System Based on Distributed Structure for Autonomous Robot Navigation. Journal of Sensors No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-1042959

American Medical Association (AMA)

Pei, Fu-jun& Li, Hao-yang& Cheng, Yu-hang. An Improved FastSLAM System Based on Distributed Structure for Autonomous Robot Navigation. Journal of Sensors. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1042959

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1042959