Title :
Study on Application of STF in Mobile Robot SLAM
Author :
Zeng Jing ; Jing, Zeng ; Song Hai-tao ; Zhang Ghuo-liang
Author_Institution :
Dept. of Mathematic & Oper. Res., Xi´´an Hi-tech Inst., Xi´´an, China
Abstract :
According to the operation characteristics of mobile robots, the common SLAM methods of robot are analyzed and the it is proposed that STF can be applied in SLAM of mobile robots. Combining the advantages of STF arithmetic, the problems in surroundings mapping and robot localization such as unknown robot model and discontinuity of state change and so on are solved by introducing gradually eliminating factor. Experimental results show that the localization with this method is more precise than that with other methods, and thus can satisfy the requirement of SLAM in large scale indoor environment.
Keywords :
mobile robots; tracking filters; large scale indoor environment; mobile robot SLAM method; robot localization; robot mapping; simultaneous localization and mapping; strong tracking filter; unknown robot model; Arithmetic; Convergence; Fading; Mathematics; Mobile robots; Nonlinear filters; Operations research; Partial response channels; Simultaneous localization and mapping; State estimation;
Conference_Titel :
Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4994-1
DOI :
10.1109/ICIECS.2009.5363471
