AN IMPROVED EKF-SLAM ALGORITHM FOR MOBILE ROBOT
Journal: International Scientific Journal "Internauka" (Vol.3, No. 2)Publication Date: 2016-02-29
Authors : KeKe Geng;
Page : 74-77
Keywords : mobile robot; improved EKF-SLAM algorithm; landmarks;
- AN IMPROVED EKF-SLAM ALGORITHM FOR MOBILE ROBOT
- Memory Based A-Star Algorithm for Path Planning of a Mobile Robot
- Multi-Agent Mobile Robot Navigation through Genetic-Fuzzy Algorithm
- NAVIGATION OF MOBILE ROBOT- ALGORITHM FOR PATH PLANNING & COLLISION AVOIDANCE- A REVIEW
- An algorithm of trajectory control for the movement of a mobile robot without measuring the position coordinates
Abstract
For solving the problem of low efficiency and low localization accuracy about EKF-SLAM algorithm in large scale and complicated environment, an improved method by adding an adaptive observation range to EKF-SLAM algorithm was presented. By setting the constraints, the observed environment scale and the number of observed landmarks for mobile robot were constrained. Deleting the landmarks which has observed but beyond the constrained scale by judge the relationship between
the observation range and maximum distance, dynamically adjusting the observation range by comparing the number of observed landmarks and number of landmarks. Simulation results demonstrate that the proposed method could reduce the computational and improve efficiency and localization accuracy.
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Last modified: 2016-05-07 03:48:28