>
Fa   |   Ar   |   En
   effects of moving landmark’s speed on multi-robot simultaneous localization and mapping in dynamic environments  
   
نویسنده badalkhani s. ,havangi r.
منبع iranian journal of electrical and electronic engineering - 2021 - دوره : 17 - شماره : 1 - صفحه: 1 -10
چکیده    Even when simultaneous localization and mapping (slam) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. researches show that the performance of slam algorithms deteriorates under dynamic environments. in this paper, a multi-robot simultaneous localization and mapping (mr-slam) system is implemented within a dynamic environment. a probabilistic approach based on extended kalman filter (ekf) is proposed to detect moving landmarks and consequently improve the performance of slam in dynamic environments. the expected landmark area (ela) is introduced. this concept allows identifying and filtering the moving landmarks. several experiments are performed varying the speed and number of moving landmarks within the environment to investigate the effect of dynamism level and landmark speed on. the root mean square error (rmse) is used as a form of measuring the performance of the algorithm. results show moving landmarks, degrade the performance of classical ekf-slam. however, the proposed method is robust to environmental changes and is less affected by the increasing speed of the moving landmarks.
کلیدواژه simultaneous localization and mapping ,dynamic environments ,multi-robot systems
آدرس university of birjand, faculty of electrical and computer engineering, iran, university of birjand, faculty of electrical and computer engineering, iran
پست الکترونیکی havangi@birjand.ac.ir
 
     
   
Authors
  
 
 

Copyright 2023
Islamic World Science Citation Center
All Rights Reserved