Ellipsoid Method for Simultaneous Localization and Mapping of Mobile Robot

被引：0
作者：
Zamora, Erik [1 ]
Yu, Wen [1 ]
机构：
[1] CINVESTAV IPN Natl Polytech Inst, Dept Automat Control, Mexico City, DF, Mexico
来源：
2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2014年
关键词：
STATE ESTIMATION; SYSTEM-IDENTIFICATION; SLAM; ALGORITHM; FILTER; INFORMATION; LOOP;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The popular extended Kalman filter SLAM (Simultaneous Localization and Mapping) requires the uncertainty is Gaussian noise. This assumption is relaxed to bounded noise by the set membership SLAM. However, the published set membership SLAMs are not suitable for large-scale and online problems. In this paper, we use ellipsoid algorithm to SLAM problem. The proposed ellipsoid SLAM has advantages over EKF SLAM and the other set membership SLAM in noise requirement, online realization, and large-scale SLAM. By bounded ellipsoid technique, we analyze the convergence and stability of the novel algorithm. Simulation and experimental results are presented that the ellipsoid SLAM is effective for on-line and large-scale problems such as Victoria Park dataset.
引用
收藏
页码：5334 / 5339
页数：6
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