Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction

被引：2

作者：

Chen, Shi-Ming ^{[1
]}

Yuan, Jun-Feng ^{[1
]}

Zhang, Fang ^{[1
]}

Fang, Hua-Jing ^{[2
]}

机构：

[1] East China Jiaotong Univ, Sch Elect & Elect Engn, Nanchang 330013, Peoples R China

[2] Huazhong Univ Sci & Technol, Dept Control Sci & Engn, Wuhan 430074, Peoples R China

来源：

MATHEMATICAL PROBLEMS IN ENGINEERING | 2014年 / 2014卷

基金：

中国国家自然科学基金;

关键词：

SIMULTANEOUS LOCALIZATION; SLAM; FILTER;

D O I：

10.1155/2014/967032

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Considering the influence of uncertain map information on multirobot SLAM problem, a multirobot FastSLAM algorithm based on landmark consistency correction is proposed. Firstly, electromagnetism-like mechanism is introduced to the resampling procedure in single-robot FastSLAM, where we assume that each sampling particle is looked at as a charged electron and attraction-repulsion mechanism in electromagnetism field is used to simulate interactive force between the particles to improve the distribution of particles. Secondly, when multiple robots observe the same landmarks, every robot is regarded as one node and Kalman-Consensus Filter is proposed to update landmark information, which further improves the accuracy of localization and mapping. Finally, the simulation results show that the algorithm is suitable and effective.

引用

页数：7

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