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Simultaneous Localization and Mapping with a Dynamic Switching Mechanism (SLAM-DSM)

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Robot Intelligence Technology and Applications 4

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 447))

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Abstract

In this paper, we propose a simultaneous localization and mapping (SLAM) algorithm incorporating a dynamic switching mechanism to switch between FastSLAM 1.0 and 2.0, based on a threshold of effective sample size (ESS). By taking advantages of FastSLAM 1.0 and 2.0 through the proposed dynamic switching mechanism, execution efficiency is significantly improved while maintaining an acceptable accuracy of estimations. To show the effectiveness of our proposed approach in comparison to FastSLAM 1.0 and 2.0, several simulations are demonstrated in this paper.

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References

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Author information

Authors and Affiliations

  1. Department of Engineering Science and Ocean Engineering, National Taiwan University, No. 1, Sec. 4, Roosevelt Rd, Taipei, Taiwan

    Chun-Hsiao Yeh & Herng-Hua Chang

  2. Department of Electrical Engineering, National Taiwan Normal University, 162 He-Ping/East Rd., Sec. 1, Taipei, Taiwan

    Chen-Chien Hsu & Wei-Yen Wang

Authors
  1. Chun-Hsiao Yeh
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  2. Herng-Hua Chang
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  3. Chen-Chien Hsu
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  4. Wei-Yen Wang
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Corresponding author

Correspondence to Chun-Hsiao Yeh .

Editor information

Editors and Affiliations

  1. Electrical Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario, Canada

    Fakhri Karray

  3. School of Information and Communication Technology, Griffith University, Gold Coast, Queensland, Australia

    Jun Jo

  4. Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia

    Peter Sincak

  5. Civil and Environmental Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Hyun Myung

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Yeh, CH., Chang, HH., Hsu, CC., Wang, WY. (2017). Simultaneous Localization and Mapping with a Dynamic Switching Mechanism (SLAM-DSM). In: Kim, JH., Karray, F., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 4. Advances in Intelligent Systems and Computing, vol 447. Springer, Cham. https://doi.org/10.1007/978-3-319-31293-4_5

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  • DOI: https://doi.org/10.1007/978-3-319-31293-4_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31291-0

  • Online ISBN: 978-3-319-31293-4

  • eBook Packages: EngineeringEngineering (R0)

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