Comparison of FastSLAM1.0 and FastSLAM2.0 for Relatively High Motion Noise Environment

Author(s):

Manjula Sahu; Chetan Kamble

Published in:

HCTL Open International Journal of Technology Innovations and Research (IJTIR), eISSN: 2321-1814

Published on:

02-May-2015

Volume:

Volume 14, April 2015, ISBN:978-1-62951-946-3.

Copyright Information:

© 2015 by the Authors; Licensed by HCTL Open, India.

License Information:

This article is an open-access article distributed under the terms and conditions of the Creative Commons Attribution 4.0 International License.

Abstract

Simultaneous Localization and Mapping (SLAM) is receiving much attention in robotics and control community in an effort to build autonomous actuators, which can survive in uncertain and unexplored environment. FastSLAM, introduced by Montemerlo is an efficient and robust solution in the field of localization. The core idea of FastSLAM revolves around the Rao-blackwellized state, where the trajectory is represented by weighted samples and the map is computed analytically. This approach uses a particle filter in which each particle carries an individual map of the environment. Accordingly, a key question is how to reduce number of particles for accurately map the environment where the motion noise is very high. The paper illustrates two approaches FastSLAM1.0 and FastSLAM2.0, which differ by their sampling strategy. In general the performance of FastSLAM2.0 is similar to FastSLAM1.0 but it varies particularly in situations in which the motion noise is high in relation to the measurement noise. The comparison of their accuracy is shown by the simulation results for different number of particles and high motion noise.


Keywords

Robotics, SLAM, Particle Filter, RBPF, FastSLAM2.0

Cite this Article

Manjula Sahu; Chetan Kamble, Comparison of FastSLAM1.0 and FastSLAM2.0 for Relatively High Motion Noise Environment, HCTL Open International Journal of Technology Innovations and Research (IJTIR), Volume 14, April 2015, eISSN: 2321-1814, ISBN (Print): 978-1-62951-946-3.

Download Full-Text PDF

It appears you do not have a PDF plugin for this browser. No issues.. you can click here to download this Full-Text PDF file.

Certificate of Contribution

Certificate of Contribution