A Decorrelated Distributed EKF-SLAM System for the Autonomous Navigation of Mobile Robots

A Decorrelated Distributed EKF-SLAM System for the Autonomous Navigation of Mobile Robots

This paper proposes a novel distributed EKF-SLAM system that combines the advantages of EKF-SLAM and distributed SLAM systems. The system model of this novel SLAM system has a distributed structure, and each subsystem is a special SLAM system corresponding to every effectively observed landmark by f...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Journal of intelligent & robotic systems 2020-06, Vol.98 (3-4), p.819-829
Hauptverfasser: Pei, Fujun, Zhu, Mingjun, Wu, Xiaoping
Format: Artikel
Sprache:eng
Schlagworte:
Artificial Intelligence
Autonomous navigation
Control
Covariance
Electrical Engineering
Engineering
Landmarks
Magnetic compasses
Mechanical Engineering
Mechatronics
Robotics
Robotics industry
Robots
Subsystems
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 829
container_issue 3-4
container_start_page 819
container_title Journal of intelligent & robotic systems
container_volume 98
creator Pei, Fujun
Zhu, Mingjun
Wu, Xiaoping
description This paper proposes a novel distributed EKF-SLAM system that combines the advantages of EKF-SLAM and distributed SLAM systems. The system model of this novel SLAM system has a distributed structure, and each subsystem is a special SLAM system corresponding to every effectively observed landmark by feeding the heading information from a magnetic compass is introduced into the observation equation. Aim at the correlation problem in distributed SLAM system, a decorrelated distributed EKF (DDEKF) was developed to estimate the robot pose and landmarks. DDEKF reconstructs and extends the maximum allocation covariance (MAC) method so that it can be applied to the distributed structure where the number of local filters is dynamically changed. Then, the local filter estimation results are weighted and fused in the main filter to obtain the estimation result. Finally, the experimental tests were performed in an outdoor environment, and the experiment results demonstrate that the proposed novel distributed EKF-SLAM system has a better performance than the existing SLAM system.
doi_str_mv 10.1007/s10846-019-01069-z
format Article
fullrecord <record><control><sourceid>gale_proqu</sourceid><recordid>TN_cdi_proquest_journals_2269225766</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><galeid>A725590232</galeid><sourcerecordid>A725590232</sourcerecordid><originalsourceid>FETCH-LOGICAL-c402t-7ea797f54d9a61f9b435087d39e695ede5dba1bb96fc77690156764718f822753</originalsourceid><addsrcrecordid>eNp9kE9r3DAQxUVpodu0X6AnQc9ORrIlWUezu_lDNi0k6aEnIdujrcOutZXkwObTR4kDuZVhmDm838zjEfKdwSkDUGeRQV3JApjODVIXTx_IgglVFlCB_kgWoDkrgGv5mXyJ8QEAdC30gvxp6Ao7HwLubMKeroaYwtBOL_v6-ry42zQ39O4YE-6p84Gmv0ibKfnR7_0U6U_7OGxtGvxIvaM3vh12SG9961P8Sj45u4v47W2ekN_n6_vlZbH5dXG1bDZFVwFPhUKrtHKi6rWVzOm2KgXUqi81Si2wR9G3lrWtlq5TSmpgQipZKVa7mnMlyhPyY757CP7fhDGZBz-FMb80nEvNuVBSZtXprNraHZphdD4F2-XqcT90fkSXnZtGcSE08JJngM9AF3yMAZ05hGFvw9EwMC-ZmzlzkzM3r5mbpwyVMxSzeNxiePfyH-oZ0QyDPg</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2269225766</pqid></control><display><type>article</type><title>A Decorrelated Distributed EKF-SLAM System for the Autonomous Navigation of Mobile Robots</title><source>SpringerLink Journals - AutoHoldings</source><creator>Pei, Fujun ; Zhu, Mingjun ; Wu, Xiaoping</creator><creatorcontrib>Pei, Fujun ; Zhu, Mingjun ; Wu, Xiaoping</creatorcontrib><description>This paper proposes a novel distributed EKF-SLAM system that combines the advantages of EKF-SLAM and distributed SLAM systems. The system model of this novel SLAM system has a distributed structure, and each subsystem is a special SLAM system corresponding to every effectively observed landmark by feeding the heading information from a magnetic compass is introduced into the observation equation. Aim at the correlation problem in distributed SLAM system, a decorrelated distributed EKF (DDEKF) was developed to estimate the robot pose and landmarks. DDEKF reconstructs and extends the maximum allocation covariance (MAC) method so that it can be applied to the distributed structure where the number of local filters is dynamically changed. Then, the local filter estimation results are weighted and fused in the main filter to obtain the estimation result. Finally, the experimental tests were performed in an outdoor environment, and the experiment results demonstrate that the proposed novel distributed EKF-SLAM system has a better performance than the existing SLAM system.</description><identifier>ISSN: 0921-0296</identifier><identifier>EISSN: 1573-0409</identifier><identifier>DOI: 10.1007/s10846-019-01069-z</identifier><language>eng</language><publisher>Dordrecht: Springer Netherlands</publisher><subject>Artificial Intelligence ; Autonomous navigation ; Control ; Covariance ; Electrical Engineering ; Engineering ; Landmarks ; Magnetic compasses ; Mechanical Engineering ; Mechatronics ; Robotics ; Robotics industry ; Robots ; Subsystems</subject><ispartof>Journal of intelligent &amp; robotic systems, 2020-06, Vol.98 (3-4), p.819-829</ispartof><rights>The Author(s) 2019</rights><rights>COPYRIGHT 2020 Springer</rights><rights>The Author(s) 2019. This work is published under https://creativecommons.org/licenses/by/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c402t-7ea797f54d9a61f9b435087d39e695ede5dba1bb96fc77690156764718f822753</citedby><cites>FETCH-LOGICAL-c402t-7ea797f54d9a61f9b435087d39e695ede5dba1bb96fc77690156764718f822753</cites><orcidid>0000-0001-9576-8693</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s10846-019-01069-z$$EPDF$$P50$$Gspringer$$Hfree_for_read</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s10846-019-01069-z$$EHTML$$P50$$Gspringer$$Hfree_for_read</linktohtml><link.rule.ids>314,780,784,27924,27925,41488,42557,51319</link.rule.ids></links><search><creatorcontrib>Pei, Fujun</creatorcontrib><creatorcontrib>Zhu, Mingjun</creatorcontrib><creatorcontrib>Wu, Xiaoping</creatorcontrib><title>A Decorrelated Distributed EKF-SLAM System for the Autonomous Navigation of Mobile Robots</title><title>Journal of intelligent &amp; robotic systems</title><addtitle>J Intell Robot Syst</addtitle><description>This paper proposes a novel distributed EKF-SLAM system that combines the advantages of EKF-SLAM and distributed SLAM systems. The system model of this novel SLAM system has a distributed structure, and each subsystem is a special SLAM system corresponding to every effectively observed landmark by feeding the heading information from a magnetic compass is introduced into the observation equation. Aim at the correlation problem in distributed SLAM system, a decorrelated distributed EKF (DDEKF) was developed to estimate the robot pose and landmarks. DDEKF reconstructs and extends the maximum allocation covariance (MAC) method so that it can be applied to the distributed structure where the number of local filters is dynamically changed. Then, the local filter estimation results are weighted and fused in the main filter to obtain the estimation result. Finally, the experimental tests were performed in an outdoor environment, and the experiment results demonstrate that the proposed novel distributed EKF-SLAM system has a better performance than the existing SLAM system.</description><subject>Artificial Intelligence</subject><subject>Autonomous navigation</subject><subject>Control</subject><subject>Covariance</subject><subject>Electrical Engineering</subject><subject>Engineering</subject><subject>Landmarks</subject><subject>Magnetic compasses</subject><subject>Mechanical Engineering</subject><subject>Mechatronics</subject><subject>Robotics</subject><subject>Robotics industry</subject><subject>Robots</subject><subject>Subsystems</subject><issn>0921-0296</issn><issn>1573-0409</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid>C6C</sourceid><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNp9kE9r3DAQxUVpodu0X6AnQc9ORrIlWUezu_lDNi0k6aEnIdujrcOutZXkwObTR4kDuZVhmDm838zjEfKdwSkDUGeRQV3JApjODVIXTx_IgglVFlCB_kgWoDkrgGv5mXyJ8QEAdC30gvxp6Ao7HwLubMKeroaYwtBOL_v6-ry42zQ39O4YE-6p84Gmv0ibKfnR7_0U6U_7OGxtGvxIvaM3vh12SG9961P8Sj45u4v47W2ekN_n6_vlZbH5dXG1bDZFVwFPhUKrtHKi6rWVzOm2KgXUqi81Si2wR9G3lrWtlq5TSmpgQipZKVa7mnMlyhPyY757CP7fhDGZBz-FMb80nEvNuVBSZtXprNraHZphdD4F2-XqcT90fkSXnZtGcSE08JJngM9AF3yMAZ05hGFvw9EwMC-ZmzlzkzM3r5mbpwyVMxSzeNxiePfyH-oZ0QyDPg</recordid><startdate>20200601</startdate><enddate>20200601</enddate><creator>Pei, Fujun</creator><creator>Zhu, Mingjun</creator><creator>Wu, Xiaoping</creator><general>Springer Netherlands</general><general>Springer</general><general>Springer Nature B.V</general><scope>C6C</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7XB</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0N</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope><orcidid>https://orcid.org/0000-0001-9576-8693</orcidid></search><sort><creationdate>20200601</creationdate><title>A Decorrelated Distributed EKF-SLAM System for the Autonomous Navigation of Mobile Robots</title><author>Pei, Fujun ; Zhu, Mingjun ; Wu, Xiaoping</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c402t-7ea797f54d9a61f9b435087d39e695ede5dba1bb96fc77690156764718f822753</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Artificial Intelligence</topic><topic>Autonomous navigation</topic><topic>Control</topic><topic>Covariance</topic><topic>Electrical Engineering</topic><topic>Engineering</topic><topic>Landmarks</topic><topic>Magnetic compasses</topic><topic>Mechanical Engineering</topic><topic>Mechatronics</topic><topic>Robotics</topic><topic>Robotics industry</topic><topic>Robots</topic><topic>Subsystems</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Pei, Fujun</creatorcontrib><creatorcontrib>Zhu, Mingjun</creatorcontrib><creatorcontrib>Wu, Xiaoping</creatorcontrib><collection>Springer Nature OA Free Journals</collection><collection>CrossRef</collection><collection>ProQuest Central (Corporate)</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics &amp; Communications Abstracts</collection><collection>Mechanical &amp; Transportation Engineering Abstracts</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Computing Database (Alumni Edition)</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central (Alumni) (purchase pre-March 2016)</collection><collection>Materials Science &amp; Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies &amp; Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>Engineering Research Database</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer Science Database</collection><collection>ProQuest Engineering Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts – Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Computing Database</collection><collection>Engineering Database</collection><collection>Advanced Technologies &amp; Aerospace Database</collection><collection>ProQuest Advanced Technologies &amp; Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>ProQuest Central Basic</collection><jtitle>Journal of intelligent &amp; robotic systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Pei, Fujun</au><au>Zhu, Mingjun</au><au>Wu, Xiaoping</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A Decorrelated Distributed EKF-SLAM System for the Autonomous Navigation of Mobile Robots</atitle><jtitle>Journal of intelligent &amp; robotic systems</jtitle><stitle>J Intell Robot Syst</stitle><date>2020-06-01</date><risdate>2020</risdate><volume>98</volume><issue>3-4</issue><spage>819</spage><epage>829</epage><pages>819-829</pages><issn>0921-0296</issn><eissn>1573-0409</eissn><abstract>This paper proposes a novel distributed EKF-SLAM system that combines the advantages of EKF-SLAM and distributed SLAM systems. The system model of this novel SLAM system has a distributed structure, and each subsystem is a special SLAM system corresponding to every effectively observed landmark by feeding the heading information from a magnetic compass is introduced into the observation equation. Aim at the correlation problem in distributed SLAM system, a decorrelated distributed EKF (DDEKF) was developed to estimate the robot pose and landmarks. DDEKF reconstructs and extends the maximum allocation covariance (MAC) method so that it can be applied to the distributed structure where the number of local filters is dynamically changed. Then, the local filter estimation results are weighted and fused in the main filter to obtain the estimation result. Finally, the experimental tests were performed in an outdoor environment, and the experiment results demonstrate that the proposed novel distributed EKF-SLAM system has a better performance than the existing SLAM system.</abstract><cop>Dordrecht</cop><pub>Springer Netherlands</pub><doi>10.1007/s10846-019-01069-z</doi><tpages>11</tpages><orcidid>https://orcid.org/0000-0001-9576-8693</orcidid><oa>free_for_read</oa></addata></record>
fulltext fulltext
identifier ISSN: 0921-0296
ispartof Journal of intelligent & robotic systems, 2020-06, Vol.98 (3-4), p.819-829
issn 0921-0296
1573-0409
language eng
recordid cdi_proquest_journals_2269225766
source SpringerLink Journals - AutoHoldings
subjects Artificial Intelligence
Autonomous navigation
Control
Covariance
Electrical Engineering
Engineering
Landmarks
Magnetic compasses
Mechanical Engineering
Mechatronics
Robotics
Robotics industry
Robots
Subsystems
title A Decorrelated Distributed EKF-SLAM System for the Autonomous Navigation of Mobile Robots
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-25T21%3A48%3A27IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-gale_proqu&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=A%20Decorrelated%20Distributed%20EKF-SLAM%20System%20for%20the%20Autonomous%20Navigation%20of%20Mobile%20Robots&rft.jtitle=Journal%20of%20intelligent%20&%20robotic%20systems&rft.au=Pei,%20Fujun&rft.date=2020-06-01&rft.volume=98&rft.issue=3-4&rft.spage=819&rft.epage=829&rft.pages=819-829&rft.issn=0921-0296&rft.eissn=1573-0409&rft_id=info:doi/10.1007/s10846-019-01069-z&rft_dat=%3Cgale_proqu%3EA725590232%3C/gale_proqu%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2269225766&rft_id=info:pmid/&rft_galeid=A725590232&rfr_iscdi=true