Simulation research for active Simultaneous Localization and Mapping based on Extended Kalman Filter

摘要

Simultaneous localization and mapping (SLAM) problem has caused wide concern in the robotics research. The active SLAM algorithm based on extended Kalman filter (EKF) is considered as an important method. To validate and analyze the active SLAM algorithm performance, a simulation system is designed and developed, which makes use of the MATLAB platform as computation engine and properly displays the process of SLAM. Active SLAM algorithms can be simulated and analyzed through the simulation experiments on this platform in both visual and statistical fashions. Algorithm simulation examples show that the simulation system makes the research for the active SLAM efficient.