An Improved Robust SLAM Algorithm

doi:10.3969/j.issn.1006-2475.2016.02.023

Abstract

Abstract:

When the robot works in an unknown environment, it is often affected by the external disturbance, which will make the localization failure based on the general

SLAM algorithm. To deal with this problem, an improved robust SLAM algorithm is proposed, to obtain a more accurate positioning result and reduce the effect of the external

disturbance, by adjusting the state prior estimate error co-variance and measurement noise co-variance of the system simultaneously. Finally, some simulation experiments are

conducted, the results show that the proposed algorithm can decrease the robot localization error more effectively under the environment with external disturbance, and the

performance of the proposed algorithm is superior to other algorithms.

Key words: SLAM, EKF, external disturbance, robustness

KE Jiang-sheng, NI Jian-jun, WU Liu-ying. An Improved Robust SLAM Algorithm[J]. Computer and Modernization, doi: 10.3969/j.issn.1006-2475.2016.02.023.

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