A Bioinspired Neural Model Based Extended Kalman Filter for Robot SLAM
Joint Authors
Yang, Simon X.
Fan, Xinnan
Wang, Chu
Ni, Jianjun
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-13
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Robot simultaneous localization and mapping (SLAM) problem is a very important and challenging issue in the robotic field.
The main tasks of SLAM include how to reduce the localization error and the estimated error of the landmarks and improve the robustness and accuracy of the algorithms.
The extended Kalman filter (EKF) based method is one of the most popular methods for SLAM.
However, the accuracy of the EKF based SLAM algorithm will be reduced when the noise model is inaccurate.
To solve this problem, a novel bioinspired neural model based SLAM approach is proposed in this paper.
In the proposed approach, an adaptive EKF based SLAM structure is proposed, and a bioinspired neural model is used to adjust the weights of system noise and observation noise adaptively, which can guarantee the stability of the filter and the accuracy of the SLAM algorithm.
The proposed approach can deal with the SLAM problem in various situations, for example, the noise is in abnormal conditions.
Finally, some simulation experiments are carried out to validate and demonstrate the efficiency of the proposed approach.
American Psychological Association (APA)
Ni, Jianjun& Wang, Chu& Fan, Xinnan& Yang, Simon X.. 2014. A Bioinspired Neural Model Based Extended Kalman Filter for Robot SLAM. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-506954
Modern Language Association (MLA)
Ni, Jianjun…[et al.]. A Bioinspired Neural Model Based Extended Kalman Filter for Robot SLAM. Mathematical Problems in Engineering No. 2014 (2014), pp.1-11.
https://search.emarefa.net/detail/BIM-506954
American Medical Association (AMA)
Ni, Jianjun& Wang, Chu& Fan, Xinnan& Yang, Simon X.. A Bioinspired Neural Model Based Extended Kalman Filter for Robot SLAM. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-506954
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-506954