Colored-State-Noise Simultaneous Localization and Map Building for Wheel Robots
电子学报2010年38卷第6期 页码：1339-1243
作者机构：
（西安理工大学自动化与信息工程学院， ）,陕西,西安,710048
作者简介：
基金信息：
DOI：
中图分类号：TP24
纸质出版：2010
稿件说明：
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FONT face, Verdana, 弋英民, 等. 有色过程噪声下的轮式机器人同步定位与地图构建[J]. 电子学报, 2010,38(6):1339-1243.
FONT face, Verdana, YI Ying-min, et al. Colored-State-Noise Simultaneous Localization and Map Building for Wheel Robots[J]. Acta Electronica Sinica, 2010, 38(6): 1339-1243.
FONT face, Verdana, 弋英民, 等. 有色过程噪声下的轮式机器人同步定位与地图构建[J]. 电子学报, 2010,38(6):1339-1243.DOI：
FONT face, Verdana, YI Ying-min, et al. Colored-State-Noise Simultaneous Localization and Map Building for Wheel Robots[J]. Acta Electronica Sinica, 2010, 38(6): 1339-1243.DOI：
<FONT face=Verdana>Since the control state of wheel robots from encoder is colored noise in the mechanical manufacture
the traditional simultaneous localization and map building algorithms are on longer applicable. In the paper
an algorithm of colored-state-noise SLAM is proposed. Nonlinear process model is linearized and colored-state-noise model is converted into Gauss white noise one by augmenting dimension of state. The integral algorithm procedure follows the recursive order of prediction
observation
data association
update
mapping to have simultaneous localization and map building. MonteCarlo simulation results show that the proposed algorithm has higher estimate precision than those of EKF-SLAM algorithm and Fast-SLAM algorithm in colored process noise covariance.
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