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On simulation and analysis of mobile robot SLAM using Rao-Blackwellized particle filters
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2011 (English)In: IEEE/SICE Int. Symp. Syst. Integr., SII, 2011, 1239-1244 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
2011 IEEE/SICE International Symposium on System Integration, SII 2011
Keyword [en]
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
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-150220DOI: 10.1109/SII.2011.6147626Scopus ID: 2-s2.0-84863131136ISBN: 9781457715235 (print)OAI: oai:DiVA.org:kth-150220DiVA: diva2:742370
Conference
2011 IEEE/SICE International Symposium on System Integration, SII 2011, 20 December 2011 through 22 December 2011, Kyoto, Japan
Note

QC 20140901

Available from: 2014-09-01 Created: 2014-09-01 Last updated: 2014-10-02Bibliographically approved

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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