NDLI: A new approach to improve the success and solving the UGVs Cooperation for SLAM Problem, using a SVSF Filter

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A new approach to improve the success and solving the UGVs Cooperation for SLAM Problem, using a SVSF Filter

Content Provider	ACM Digital Library
Author	Hamerlain, M. Nemra, A. Demim, F. Louadj, K. Bazoula, A.
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.
Starting Page	56
Ending Page	63
Page Count	8
File Format	PDF
ISBN	9781450348768
DOI	10.1145/3038884.3038894
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2016-11-22
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Unmanned ground vehicle Cooperative slam Svsf filter Ekf filter Autonomous navigation Map building Sensor fusion Localization
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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