Authors:
Amir Monjazeb
1
;
Jurek Z. Sasiadek
1
and
Dan Necsulescu
2
Affiliations:
1
Carleton University, Canada
;
2
Ottawa University, Canada
Keyword(s):
Simultaneous Localization And Mapping (SLAM) Problem, EKF, FastSLAM, HybridSLAM, Unscented HybridSLAM, Cluttered Environment, Double Loop Closing, Absolute Error.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronics Systems
;
Mobile Robots and Autonomous Systems
;
Perception and Awareness
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
This paper addresses the linearization process of an autonomous mobile robot utilizing the second order Sterling polynomial interpolation specifically used for Unscented HybridSLAM algorithm. It describes the implementation of the linearization method to estimate the posterior mean and covariance of the system. The major interest is to apply linearized equations for a simultaneous localization and mapping case in a non-domestic environment with a random distribution of landmarks. Using computer simulations, Unscented HybridSLAM and the associated theoretical interpolation is examined for a double-loop scenario and the efficacy of the Unscented HybridSLAM is validated.