Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction
Joint Authors
Yuan, Jun-Feng
Chen, Shi-Ming
Fang, Hua-Jing
Zhang, Fang
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-05-12
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
Considering the influence of uncertain map information on multirobot SLAM problem, a multirobot FastSLAM algorithm based on landmark consistency correction is proposed.
Firstly, electromagnetism-like mechanism is introduced to the resampling procedure in single-robot FastSLAM, where we assume that each sampling particle is looked at as a charged electron and attraction-repulsion mechanism in electromagnetism field is used to simulate interactive force between the particles to improve the distribution of particles.
Secondly, when multiple robots observe the same landmarks, every robot is regarded as one node and Kalman-Consensus Filter is proposed to update landmark information, which further improves the accuracy of localization and mapping.
Finally, the simulation results show that the algorithm is suitable and effective.
American Psychological Association (APA)
Chen, Shi-Ming& Yuan, Jun-Feng& Zhang, Fang& Fang, Hua-Jing. 2014. Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-7.
https://search.emarefa.net/detail/BIM-512095
Modern Language Association (MLA)
Chen, Shi-Ming…[et al.]. Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction. Mathematical Problems in Engineering No. 2014 (2014), pp.1-7.
https://search.emarefa.net/detail/BIM-512095
American Medical Association (AMA)
Chen, Shi-Ming& Yuan, Jun-Feng& Zhang, Fang& Fang, Hua-Jing. Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-7.
https://search.emarefa.net/detail/BIM-512095
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-512095