FastSLAM and Its Data Association Approaches for Mobile Robots

摘要：

This paper discusses the data association issues of the FastSLAM (Factored Solution to SLAM) algorithm that recursively estimates the full posterior distribution of both robot pose and landmark locations. In traditional FastSLAM, it always hypothesizes that the data association is certain. But in real world, the data association is uncertain. In this paper, we present an extension to FastSLAM that handle the uncertainty in the data association using an approach that unites per-particle maximum likelihood data association and negative information technology. Experimental results show that the improved FastSLAM has advantages over the traditional FastSLAM approaches.

关键词： FastSLAM Extended Kalman filter data association maximum likelihood negative information

作者: Lijin Guo Huaxiang Wang Qinghao Meng Yanan Qiu

作者单位: School of Electric Engineering and Automation Tianjin University Nankai,Tianjin, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）