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Simultaneous Localization and Mapping Based on Kalman Filter and Extended Kalman Filter
Joint Authors
Ullah, Inam
Su, Xin
Zhang, Xuewu
Choi, Dongmin
Source
Wireless Communications and Mobile Computing
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-06-08
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Information Technology and Computer Science
Abstract EN
For more than two decades, the issue of simultaneous localization and mapping (SLAM) has gained more attention from researchers and remains an influential topic in robotics.
Currently, various algorithms of the mobile robot SLAM have been investigated.
However, the probability-based mobile robot SLAM algorithm is often used in the unknown environment.
In this paper, the authors proposed two main algorithms of localization.
First is the linear Kalman Filter (KF) SLAM, which consists of five phases, such as (a) motionless robot with absolute measurement, (b) moving vehicle with absolute measurement, (c) motionless robot with relative measurement, (d) moving vehicle with relative measurement, and (e) moving vehicle with relative measurement while the robot location is not detected.
The second localization algorithm is the SLAM with the Extended Kalman Filter (EKF).
Finally, the proposed SLAM algorithms are tested by simulations to be efficient and viable.
The simulation results show that the presented SLAM approaches can accurately locate the landmark and mobile robot.
American Psychological Association (APA)
Ullah, Inam& Su, Xin& Zhang, Xuewu& Choi, Dongmin. 2020. Simultaneous Localization and Mapping Based on Kalman Filter and Extended Kalman Filter. Wireless Communications and Mobile Computing،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1214335
Modern Language Association (MLA)
Ullah, Inam…[et al.]. Simultaneous Localization and Mapping Based on Kalman Filter and Extended Kalman Filter. Wireless Communications and Mobile Computing No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1214335
American Medical Association (AMA)
Ullah, Inam& Su, Xin& Zhang, Xuewu& Choi, Dongmin. Simultaneous Localization and Mapping Based on Kalman Filter and Extended Kalman Filter. Wireless Communications and Mobile Computing. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1214335
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1214335