An ASVSF-SLAM Algorithm with Time-Varying Noise Statistics Based on MAP Creation and Weighted Exponent

摘要

The probability-based filtering method has been extensively used for solving the simultaneous localization and mapping (SLAM) problem. Generally, the standard filter utilizes the system model and prior stochastic information to approximate the posterior state. However, in the real-time situation, the noise statistics properties are relatively unknown, and the system is inaccurately modeled. Thus the filter divergence might occur in the integration system. Moreover, the expected accuracy might be challenging to be reached due to the absence of the responsive time-varying of both the process and measurement noise statistic which naturally can enlarge the uncertainty in the continuous system. Consequently, the traditional strategy needs to be improved aiming to provide an ability to estimate those properties. In order to accomplish this issue, the new adaptive filter is proposed in this paper, termed as an adaptive smooth variable structure filter (ASVSF). Sequentially, the improved SVSF is derived and implemented; the process and measurement noise statistics are estimated by utilizing the maximum a posteriori (MAP) creation and the weighted exponent concept, and the covariance correction step is added based on the divergence suppression concept. In this paper the ASVSF is applied to overcome the SLAM problem of an autonomous mobile robot; henceforth it is abbreviated as an ASVSF-SLAM algorithm. It is simulated and compared to the classical algorithm. The simulation results demonstrated that the proposed algorithm has better performance, stability, and effectiveness.