Guaranteed SLAM-An interval approach

被引：20

作者：

Mustafa, Mohamed ^{[1
]}

Stancu, Alexandru ^{[1
]}

Delanoue, Nicolas ^{[2
]}

Codres, Eduard ^{[1
]}

机构：

[1] Univ Manchester, Autonomous Syst Res Theme, Manchester M13 9PL, Lancs, England

[2] Univ Angers, Lab Angevin Rech Ingn Syst, 40 Rue Rennes, F-49035 Angers, France

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2018年 / 100卷

关键词：

Nonlinear models; Real analysis; SLAM convergence; Interval methods; SET-MEMBERSHIP STATE; MOBILE ROBOTS; LOCALIZATION; ALGORITHM;

D O I：

10.1016/j.robot.2017.11.009

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a new approach, interval Simultaneous Localization and Mapping (i-SLAM), which addresses the robotic mapping problem in the context of interval methods, where the robot sensor noise is assumed bounded. With no prior knowledge about the noise distribution or its probability density function, we derive and present necessary conditions to guarantee the map convergence even in the presence of nonlinear observation and motion models. These conditions may require the presence of some anchoring landmarks with known locations. The performance of i-SLAM is compared with the probabilistic counterparts in terms of accuracy and efficiency. (C) 2017 Elsevier B.V. All rights reserved.

引用

页码：160 / 170

页数：11