Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction

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 e...

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Bibliographic Details
Published in:Mathematical problems in engineering 2014-01, Vol.2014 (2014), p.1-7
Main Authors: Chen, Shi-Ming, Yuan, Jun-Feng, Zhang, Fang, Fang, Hua-Jing
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
Atoms & subatomic particles
Charged particles
Computer simulation
Consistency
Decomposition
Electromagnetism
Engineering
Force distribution
Landmarks
Multiple robots
Multirobots
Probability distribution
Resampling
Robots
Sampling
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Summary: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.
ISSN:1024-123X
1563-5147
DOI:10.1155/2014/967032