Improvement methods for efficiency computations and solve the problems at interconnections data with case of simultaneous localisation and mapping for an autonomous robotics systems
Abstract
Improvement methods for efficiency computations and solve the problems at interconnections data with case of simultaneous localisation and mapping for an autonomous robotics systems
Incoming article date: 08.12.2017The purpose of the study is a promising, rapidly developing and demanded area of SLAM (simultaneous localiza-tion and mapping). The simultaneous location and construction of a map is a practical problem of autonomous robotics. The basic principle is to place the mobile robot in an unknown environment where it was able to gradual-ly build a consistent map of this terrain while simultaneously determining its location within the map. To date, the work is aimed at improving the efficiency of computing and solving problems in data integration. In the process of constructing a map of the environment by the mobile robot and simultaneously using it, in order to determine its location, online, the path of the platform and the location of all landmarks are simultaneously evaluated without the need for a priori knowledge of their location.
Keywords: localization and mapping, probabilistic breech-cha, extended Kalman filter, particle filter, mobile robot, re-cursive method, Gaussian