A data association method based on simulate anneal arithmetic for mobile robot SLAM

This paper researches the data association problem in mobile robot simultaneous localization and mapping (SLAM) and try to solve this problem with the thought of simulate anneal arithmetic. The essentiality of data association in SLAM is analyzed and then the data association problem is transformed into a combinatorial optimization problem, defined by variables and functions in details. The simulate anneal arithmetic is then used to solve the problem ultimately. The comparison experiment results show that the proposed method is more robust, of higher efficiency and cause better map building result relative to the traditional available methods.