Simultaneous Localization and Mapping (SLAM) based on pseudolinear measurement model with a bias reduction approach

Chandima Dedduwa Pathiranage, Keigo Watanabe, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper describes an improved solution to mobile robot localization and map building problem based on pseudolinear measurement model through bias reduction approach. Accurate estimation of vehicle and landmark states is one of the key issues for successful mobile robot navigation if the configuration of the environment and initial robot location are unknown. Direct linearization of nonlinear models has always come up with information loss of original nonlinear models. A state estimator which uses linearized models can be a solution to a problem where high accuracy is not expected. A state estimator which can be designed to use the nonlinearity as it is coming from the original model has always been invaluable in which high accuracy is expected. Thus to accomplish the above highlighted point, pseudolinear measurement model is directly applied to the Kalman filter equations without losing the original nonlinearity. We address the pseudolinear bias problem through simple geometry translation of system states. This system is simulated using Matlab for vehicle-landmarks system and results show that the new approach performs much accurately compared to that of well known Extended Kalman filter (EKF).

Original languageEnglish
Title of host publicationICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings
Pages73-78
Number of pages6
DOIs
Publication statusPublished - Dec 1 2007
Externally publishedYes
EventICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007 - Peradeniya, Sri Lanka
Duration: Aug 9 2007Aug 11 2007

Publication series

NameICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings

Other

OtherICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007
CountrySri Lanka
CityPeradeniya
Period8/9/078/11/07

ASJC Scopus subject areas

  • Information Systems
  • Industrial and Manufacturing Engineering

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