F. Demim
ABSTRACT
This paper aims to present a Decentralized Cooperative Simultaneous Localization and Mapping (DC-SLAM) solution based on a laser telemeter using a Covariance Intersection (CI). The CI will run in the UGVs receiving features to estimate the position and covariance of shared features before adding them to the global map. With the proposed solution, a group of Unmanned Ground Vehicles (UGVs) will be able to construct a large reliable map and localize themselves within this map without any user intervention. The most popular solutions of this problem are the EKF-SLAM and the FAST-SLAM, the former suffers from two important problems, which are the calculation of Jacobeans and the linear approximations to the nonlinear models, and the latter is not suitable for real time implementation. Therefore, a new alternative solution based on the smooth variable structure filter (SVSF). Cooperative SVSF-SLAM algorithm is proposed in this paper to solve the UGVs SLAM problem. Our main contribution consists in adapting the SVSF filter to solve the Decentralized Cooperative SLAM problem for multiple UGV. The algorithms developed in this paper were implemented using two mobile robots Pioneer 3-AT, using 2D laser telemeter sensors. Good results are obtained by the Cooperative Adaptive SVSF-SLAM comparing to the Cooperative EKF-SLAM especially when the noise is colored or affected by a variable bias. Simulation results confirm and show the efficiency of our proposed approaches.1
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