Title: SLAM using EKF, EH<inf>&#x221E;</inf> and mixed EH<inf>2</inf>/H<inf>&#x221E;</inf> filter
Abstract: The process of simultaneously building the map and locating a vehicle is known as Simultaneous Localization and Mapping (SLAM) and can be used for autonomous navigation. The estimation of vehicle states and landmarks plays an important role in SLAM. Most of the SLAM algorithms are based on extended Kalman filters (EKFs). However, EKF's are not the best choice for SLAM as they suffer from the assumption of Gaussian noise statistics and linearization errors, which can degrade the performance. H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> filter is one of the alternative of Kalman filter. This paper investigates three SLAM algorithms: (i) EKF SLAM (ii) extended H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> (EH <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> ) SLAM and (iii) mixed extended H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</inf> /H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> (EH <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</inf> /H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> ) SLAM. A comparison of the three algorithms is given through numerical simulations.
Publication Year: 2010
Publication Date: 2010-09-01
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 8
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