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The SLAM Algorithm for Multiple Robots based on Parameter Estimation



With the increasing number of the feature points of the map, the dimension of systematic observation is added gradually, which leads to the deviation of the volume points from the desired trajectory and significant errors on the state estimation. An Iterative Squared-Root Cubature Kalman Filter (ISR-CKF) algorithm proposed is aimed at improving SR-CKF algorithm on simultaneous localization and mapping (SLAM). By introducing the method of iterative updating, the sample points are re-determined by the estie re-determined by the estimated value and the square root factor, which keeps the distortion small in the highly nonlinear environment and improves the precision further. A robust tracking Square Root Cubature Kalman Filter algorithm (STF-SRCKF-SLAM) is proposed to solve the problem of reduced accuracy in the condition of state change on SLAM. The algorithm is predicted according to the kinematic model and observation model of the mobile robot at first, and then the algorithm updates itself by spreading the square root of the error covariance matrix directly, which greatly reduces the computational complexity. At the same time, the time-varying fading factor is introduced in the process of forecasting and updating, and the corresponding weight of the data is adjusted in real time to improve the accuracy of multi-robot localization. The results of simulation shows that the algorithm can improve the accuracy of multi-robot pose effectively.



Total Pages: 15
Pages: 593-607


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Volume: 24
Issue: 3
Year: 2018

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ISSN PRINT: 1079-8587
ISSN ONLINE: 2326-005X
DOI PREFIX: 10.31209
10.1080/10798587 with T&F
IMPACT FACTOR: 0.652 (2017/2018)
Journal: 1995-Present


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