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2012 (Vol. 4, Issue: 16)
Article Information:

Improved Fastslam2.0 Based on the H4 Filter for Intelligent Mobile Robot

Qi Zhang, Jiachen Ma and Qiang Liu
Corresponding Author:  Qi Zhang 

Key words:  FastSLAM2.0, hybrid H FastSLAM, intelligent mobile robot, simultaneous localization and mapping, the H filter, ,
Vol. 4 , (16): 2748-2754
Submitted Accepted Published
March 26, 2012 April 17, 2012 August 15, 2012
Abstract:

This study proposes hybrid H Fast SLAM algorithm as a robust and effective SLAM solution. In usual FastSLAM2.0, a priori knowledge of the process and the statistics of measurement noise are assumed to be Gaussian motion disturbances. However, in most application these matrixes are unknown or canít be assumed as Gaussian motion disturbances. The main advantage of the H estimator is that it makes no assumption about the disturbances and it has the ability which all conceivable disturbances can be satisfied. We use the H filter to handle the process and measurement noise covariance matrices Qt and Rt. And the k-step look-ahead proposal distribution is added to calculate importance weight of particles. Simulation results in different environments and consistency of the proposed approach are presented, demonstrating the superiority of the proposed approach.
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  Cite this Reference:
Qi Zhang, Jiachen Ma and Qiang Liu, 2012. Improved Fastslam2.0 Based on the H4 Filter for Intelligent Mobile Robot.  Research Journal of Applied Sciences, Engineering and Technology, 4(16): 2748-2754.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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