On simulation and analysis of mobile robot SLAM using Rao-Blackwellized particle filters
2011 (English)In: IEEE/SICE Int. Symp. Syst. Integr., SII, 2011, 1239-1244 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
2011. 1239-1244 p.
, 2011 IEEE/SICE International Symposium on System Integration, SII 2011
Analytical investigations, Autonomous Mobile Robot, Fast-SLAM, MATLAB platform, Rao-Blackwellized particle filter, Simulation and analysis, Simultaneous localization and mapping, Computer simulation, Mobile robots, Nonlinear filtering, Numerical analysis, Robotics
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-150220DOI: 10.1109/SII.2011.6147626ScopusID: 2-s2.0-84863131136ISBN: 9781457715235OAI: oai:DiVA.org:kth-150220DiVA: diva2:742370
2011 IEEE/SICE International Symposium on System Integration, SII 2011, 20 December 2011 through 22 December 2011, Kyoto, Japan
QC 201409012014-09-012014-09-012014-10-02Bibliographically approved