Invariant EKF Based Mobile Robot Simultaneous Localization and Mapping Navigation

被引：0
作者：
Gu, Chaoyue [1 ]
Sun, Zhenxing [1 ]
Ting, Wang [1 ]
机构：
[1] Nanjing Tech Univ, Coll Elect Engn & Control Sci, Nanjing 211816, Peoples R China
来源：
ARTIFICIAL INTELLIGENCE AND ROBOTICS, ISAIR 2022, PT I | 2022年 / 1700卷
关键词：
Mobile robot; Simultaneous Localization and Mapping; Invariant; Extended Kalman Filter; SLAM;
D O I：
10.1007/978-981-19-7946-0_35
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
As robots suffered from magnetic field disturbances, they cannot use satellite navigation such as Global Positioning System to explore the wide unknown area. In this situation, the Simultaneous Localization and Mapping is an efficient choice to obtain the global map by sensors or visions. However, it is inevitable including noises and other disturbances. In this paper, we proposed an Invariant Extended Kalman Filter (IEKF) based navigation method for single mobile robot. The proposed method is simulated on MATLAB platform. Results show good performances of proposed method.
引用
收藏
页码：420 / 426
页数：7
相关论文
共 50 条
  • [31] A Geese PSO tuned fuzzy supervisor for EKF based solutions of simultaneous localization and mapping (SLAM) problems in mobile robots
    Chatterjee, Amitava
    Matsuno, Fumitoshi
    EXPERT SYSTEMS WITH APPLICATIONS, 2010, 37 (08) : 5542 - 5548
  • [32] Evolutionary Computation for Simultaneous Localization and Mapping Based on Topological Map of a Mobile Robot
    Sasaki, Hironobu
    Kubota, Naoyuki
    Taniguchi, Kazuhiko
    INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, PROCEEDINGS, 2008, 5314 : 883 - +
  • [33] Simultaneous Localization and Mapping for Mobile Robot Based on an Improved Particle Filter Algorithm
    Wang, Zhong Min
    Miao, De Hua
    Du, Zhi Jiang
    2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 1106 - +
  • [34] SRCKF based simultaneous localization and mapping of mobile robots
    Wang, Hongjian
    Fu, Guixia
    Bian, Xinqian
    Li, Juan
    Jiqiren/Robot, 2013, 35 (02): : 200 - 207
  • [35] Mobile robot simultaneous localization and mapping using novel Rao-Blackwellised particle filter
    Li Maohai
    Hong Bingrong
    Luo Ronghua
    CHINESE JOURNAL OF ELECTRONICS, 2007, 16 (01): : 34 - 39
  • [36] Research on EKF-Based Localization Method of Tracked Mobile Robot
    Qu, Junsuo
    Zhang, Qipeng
    Hou, Leichao
    Zhang, Ruijun
    Ting, Kaiming
    PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON COMPUTER ENGINEERING, INFORMATION SCIENCE & APPLICATION TECHNOLOGY (ICCIA 2017), 2017, 74 : 175 - 180
  • [37] Visual-based simultaneous localization and mapping and global positioning system correction for geo-localization of a mobile robot
    Berrabah, Sid Ahmed
    Sahli, Hichem
    Baudoin, Yvan
    MEASUREMENT SCIENCE AND TECHNOLOGY, 2011, 22 (12)
  • [38] Simultaneous Localization and Mapping of a Mobile Robot with Surveillance and Flying Cameras
    Chang, Wen-Chung
    Wu, Chia-Hung
    Huang, Yang-Cheng
    Andini, Dianthika Puteri
    2018 SICE INTERNATIONAL SYMPOSIUM ON CONTROL SYSTEMS (SICE ISCS), 2018, : 144 - 150
  • [39] Examining the eigenvalues effect to the computational cost in mobile robot simultaneous localization and mapping
    Othman, Nur Aqilah
    Ahmad, Hamzah
    COMPUTERS & ELECTRICAL ENGINEERING, 2016, 56 : 659 - 673
  • [40] Simultaneous Localization and Mapping of Mobile Robot using GMapping Algorithm
    Revanth, Marshal C.
    Saravanakumar, D.
    Sakthivel, G.
    Jegadeeshwaran, R.
    2020 6TH IEEE INTERNATIONAL SYMPOSIUM ON SMART ELECTRONIC SYSTEMS (ISES 2020) (FORMERLY INIS), 2020, : 56 - 60
12345