Volume 17, Issue 1 (March 2021)                   IJEEE 2021, 17(1): 1740-1740 | Back to browse issues page

XML Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Badalkhani S, Havangi R. Effects of Moving Landmark’s Speed on Multi-Robot Simultaneous Localization and Mapping in Dynamic Environments. IJEEE 2021; 17 (1) :1740-1740
URL: http://ijeee.iust.ac.ir/article-1-1740-en.html
Effects of Moving Landmark’s Speed on Multi-Robot Simultaneous Localization and Mapping in Dynamic Environments
S. Badalkhani , R. Havangi
Abstract:   (2091 Views)
Even when simultaneous localization and mapping (SLAM) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. Researches show that the performance of SLAM algorithms deteriorates under dynamic environments. In this paper, a multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a dynamic environment. A probabilistic approach based on extended Kalman filter (EKF) is proposed to detect moving landmarks and consequently improve the performance of SLAM in dynamic environments. The expected landmark area (ELA) is introduced. This concept allows identifying and filtering the moving landmarks. Several experiments are performed varying the speed and number of moving landmarks within the environment to investigate the effect of dynamism level and landmark speed on. The root mean square error (RMSE) is used as a form of measuring the performance of the algorithm. Results show moving landmarks, degrade the performance of classical EKF-SLAM. However, the proposed method is robust to environmental changes and is less affected by the increasing speed of the moving landmarks.
Keywords: Simultaneous Localization and Mapping , Dynamic Environments , Multi-Robot Systems
Full-Text [PDF 2238 kb]   (896 Downloads)    
  • Introducing multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a dynamic environment.
  • Using a probabilistic approach based on EKF is proposed to detect moving landmarks and consequently improve the performance of SLAM in dynamic environments.
  • Introducing the expected landmark area (ELA).

Type of Study: Research Paper | Subject: Agents
Received: 2019/12/05 | Revised: 2020/01/25 | Accepted: 2020/01/31
Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
Creative Commons License
© 2022 by the authors. Licensee IUST, Tehran, Iran. This is an open access journal distributed under the terms and conditions of the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) license.