Investigation of RMF-SLAM and AMF-SLAM in closed loop and open loop paths

Abstract

In this paper, performance of relative and absolute simultaneous localization and mapping (SLAM) are studied in dealing with open and closed loop paths. SLAM techniques based on absolute landmark and robot positions (AMF) has global look at the environment. This property is used to error reduction in closed loop paths. However, in open loop path, its error value increases and performance decreases strongly. In SLAM techniques based on relative positions of landmarks (RMF), the environment is observed locally by the robot. The performance of these techniques in paths with closed or open loops look alike without significant difference. One of the reasons why researchers must pay more attention to RMF SLAM in comparison with AMF SLAM methods is their provable convergence besides their significant performance especially in open loop path.