Comparison of the SLAM algorithms: Hangar experiments
Küçük Resim Yok
Tarih
2016
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
E D P SCIENCES
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
This study purposes to compare two known algorithms in an application scenario of simultaneous localization and mapping (SLAM) and to present issues related with them as well. Mostly used SLAM algorithms Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are compared with respect to the point of accuracy of the robot states, localization and mapping. Because of considering the most implementations in the previous studies, the simulation environments are chosen as big as possible to provide reliable results. In this study, two different hangar regions are tried to be simulated. According to the outcomes of the applications, UKF-based SLAM algorithm has superior performance over the EKF-based one, apart from elapsed time.
Açıklama
3rd International Conference on Control, Mechatronics and Automation (ICCMA) -- DEC 21-22, 2015 -- Barcelona, SPAIN
Anahtar Kelimeler
Kaynak
2015 3RD INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION (ICCMA 2015)
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
42
