Incremental SLAM with Backtracking Data Association for Mobile Robots
This paper focuses on the reciprocity between data association and state estimation in the simultaneous localization and mapping (SLAM)problem for mobile robot,and an incremental SLAM algorithm with backtracking data association is presented.Our approach uses a tree model called correspond ence tree (CT)to represent the solution space of the data association problem.CT is layered according to time steps and every node in it is a data association hypothesis for the measurements gotten at a time.A best-first with limit back- tracking search strategy is designed to find the optimal path in CT.A state estimation method based on the least-squares problem is developed.This method can compute the cost of nodes in CT and update state estimation incrementally,so direct feedback is introduced from the state estimation process to the data association model.With the interaction between data association and state estimation,and combining with tree pruning techniques,our approach can get accurate data association and state estimation for on-line SLAM applications .
Xiucai Ji Hui Zhang Dan Hai Zhiqiang Zheng Member,IEEE
College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073,China
国际会议
2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)
张家界
英文
634-639
2008-06-20（万方平台首次上网日期，不代表论文的发表时间）