Current Proceedings on Technology

Yazarlar: Asghar Mohammadian, Alireza Mohammad Shahri, Hadi Barghlame

Konular:-

Anahtar Kelimeler:SLAM,Localization,Ap building,Divide and conquer,Kalman filter.  

Özet:   In this paper navigation and map building for autonomous mobile robots using Discrete Iteration Extended Kalman Filter is survived and a novel idea is proposed according to Divide and conquer (D&C) algorithm. It is Shown That by Using Proposed idea Divide and conquer is less time consuming in multi robot case. Also, accuracy of using D&C-IEKF is solving multi agent SLAM problem is about the accuracy of solving SLAM for one robot, Sometimes in loops. which may occur for each robot, the proposed algorithm is more precise The reason is that, exact updating steps, happen at the end of a close loop . In this method each of the robots while movement, explore all parts of the environment which are in nearest distance from the robot. While navigation, building and updating the map is done locally. Finally, all maps merge using Divide and conquer algorithm, and the whole map of the environment is built. This method has high velocity and high accuracy. Avoids redundancy of data in system memory and memory usage in this way is low. 

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