教師資料查詢 | 類別: 期刊論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Enhanced Simultaneous Localization and Mapping (ESLAM) for Mobile Robots
學年105
學期2
出版(發表)日期2017/04/13
作品名稱Enhanced Simultaneous Localization and Mapping (ESLAM) for Mobile Robots
作品名稱(其他語言)
著者Hsu, C.C., W.Y. Wang, T.Y. Lin, Y.T. Wang, T.W. Huang
單位
出版者
著錄名稱、卷期、頁數International Journal of Humanoid Robotics, vol.14, no.2
摘要FastSLAM, such as FastSLAM 1.0 and FastSLAM 2.0, is a popular algorithm to solve the simultaneous localization and mapping (SLAM) problem for mobile robots. In real environments, however, the execution speed by FastSLAM would be too slow to achieve the objective of real-time design with a satisfactory accuracy because of excessive comparisons of the measurement with all the existing landmarks in particles, particularly when the number of landmarks is drastically increased. In this paper, an enhanced SLAM (ESLAM) is proposed, which uses not only odometer information but also sensor measurements to estimate the robot’s pose in the prediction step. Landmark information that has the maximum likelihood is then used to update the robot’s pose before updating the landmarks’ location. Compared to existing FastSLAM algorithms, the proposed ESLAM algorithm has a better performance in terms of computation efficiency as well as localization and mapping accuracy as demonstrated in the illustrated examples.
關鍵字Simultaneous localization and mapping; SLAM; FastSLAM; particle filter; extended Kalman filter; navigation
語言英文
ISSN
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者
審稿制度
國別新加坡
公開徵稿
出版型式,電子版,紙本
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