一种改进的多机器人协作实时FastSLAM算法

针对FastSLAM1.0中机器人缺乏自身定位测量修正引起的累积误差和FastSLAM2.0引入测量修正引起算法复杂度增加的问题,提出一种改进的基于辅助测量的多机器人协作实时FastSLAM算法,使用双机器人协同工作,领头机器人负责完成同时定位与地图构建任务,辅助机器人通过静态相对位置测量为领头机器人提供实时定位测量修正.该辅助测量方法不仅为SLAM任务执行机器人提供较准确的定位测量值,同时也避免了FastSLAM2.0算法中额外的算法复杂度问题.实验结果表明算法既可以获得较高的精度,而且方便可行,具有较高实用价值.

An Improved Algorithm of Multi-Robots Cooperative Online FastSLAM

An improved multi-robots cooperative online FastSLAM algorithm based on auxiliary measurements is proposed for the key problems of FastSLAM 1.0 and 2.0.In FastSLAM 1.0,the cumulated errors are presented for the uncertain localization of the robot itself without measurements.Although FastSLAM 2.0 takes the measurements into account,additional computational complexity is introduced.In the proposed algorithm,two robots are required.The leader robot is responsible for accomplishing the task of SLAM,and the auxiliary robot is responsible for providing the leader robot with static relative measurements.The method of cooperative auxiliary measurement provides the SLAM executor with more accurate localization information in FastSLAM 1.0 and avoids the additional computational complexity in FastSLAM 2.0.Experimental results show that the algorithm can achieve higher accuracy and feasibility.Moreover,the method is of high practical value.