Comparison and improvement of extended kalman filter and compressed extended kalman filter based slam methods for unmanned ground vehicle navigation

Hakan Temeltaş, Deniz Kavak

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

Özet

Simultaneous Localization and Mapping (SLAM) using for the mobile robot navigation has two main problems. First problem is the computational complexity due to the growing state vector with the added landmark in the environment. Second problem is data association which matches the observations and landmarks in the state vector. In this study, we compare Extended Kalman Filter (EKF) based SLAM which is well-developed and well-known algorithm, and Compressed Extended Kalman Filter (CEKF) based SLAM developed for decreasing of the computational complexity of the EKF based SLAM. We write two simulation program to investigate these techniques. Firts program is written for the comparison of EKF and CEKF based SLAM according to the computational complexity and covariance matrix error with the different numbers of landmarks. In the second program, EKF and CEKF based SLAM with the ICNN and JCBB data association algorithms simulations are presented. For this simulation differential drive vehicle that moves in a 10m square trajectory and LMS 2002-D laser range finder are modelled and landmarks are randomly scattered in that 10m square environment.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıJubilee 15th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2008 - Proceedings
EditörlerVladimir G. Peshekhonov, A.K. Krytova
YayınlayanState Research Center of the Russian Federation
Sayfalar227-229
Sayfa sayısı3
ISBN (Elektronik)9785900780801
Yayın durumuYayınlandı - 2008
Etkinlik15th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2008 - Saint Petersburg, Russian Federation
Süre: 26 May 200828 May 2008

Yayın serisi

AdıJubilee 15th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2008 - Proceedings

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???event.eventtypes.event.conference???15th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2008
Ülke/BölgeRussian Federation
ŞehirSaint Petersburg
Periyot26/05/0828/05/08

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