SIMULTANEOUS LOCALIZATION AND MAPPING USING LASER DATA AND UNSCENTED FAST SLAM WITH SCAN MATCHING

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ZAMANI ALAVIJEH MARZIEH; HADIAN JAZI SHAHRAM

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

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Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:6 Page(s): 217-225

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Information Journal Paper

Title

SIMULTANEOUS LOCALIZATION AND MAPPING USING LASER DATA AND UNSCENTED FAST SLAM WITH SCAN MATCHING

Author(s)

ZAMANI ALAVIJEH MARZIEH | HADIAN JAZI SHAHRAM | Issue Writer Certificate

Keywords

SIMULTANEOUS LOCALIZATION AND MAPPINGQ1

UNSCENTED FAST SLAM ALGORITHMQ1

LASERQ2

SCAN MATCHINGQ1

Abstract

SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) is a fundamental problem in autonomous robotics. Many algorithms have been exploited to solve this problem, among these algorithms, Fast SLAM is one of the most widely used and Unscented Fast SLAM is one of the newest. Although in several scientific researches it is stated that Unscented Fast SLAM outperforms Fast SLAM, there are still unexamined potentials regarding Unscented Fast SLAM. Therefore, this paper seeks to improve the overall performance of Unscented Fast SLAM. Map accuracy and quality directly depend on the accuracy of localization and observations. In SLAM algorithms, robot pose is predicted using motion model, and then corrected using the difference between map features and recently observed features. Accuracy of pose estimation may improve by comparing two sequential observations and modifying robot pose to result in best match between them. This method is called SCAN MATCHING and has been successfully combined with Fast SLAM algorithm and some other SLAM algorithms not including Unscented Fast SLAM. Therefore, this paper seeks to investigate the performance of Unscented Fast SLAM combined with SCAN MATCHING. Simulation results show that combining Unscented Fast SLAM with scan match significantly improves accuracy of localization and mapping.

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APA: Copy

ZAMANI ALAVIJEH, MARZIEH, & HADIAN JAZI, SHAHRAM. (2016). SIMULTANEOUS LOCALIZATION AND MAPPING USING LASER DATA AND UNSCENTED FAST SLAM WITH SCAN MATCHING. MODARES MECHANICAL ENGINEERING, 16(6), 217-225. SID. https://sid.ir/paper/178783/en

Vancouver: Copy

ZAMANI ALAVIJEH MARZIEH, HADIAN JAZI SHAHRAM. SIMULTANEOUS LOCALIZATION AND MAPPING USING LASER DATA AND UNSCENTED FAST SLAM WITH SCAN MATCHING. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(6):217-225. Available from: https://sid.ir/paper/178783/en

IEEE: Copy

MARZIEH ZAMANI ALAVIJEH, and SHAHRAM HADIAN JAZI, “SIMULTANEOUS LOCALIZATION AND MAPPING USING LASER DATA AND UNSCENTED FAST SLAM WITH SCAN MATCHING,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 6, pp. 217–225, 2016, [Online]. Available: https://sid.ir/paper/178783/en

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