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