Mobile robot parallel PF-SLAM based on OpenMP

摘要

This paper presents an effective Simultaneous Localization and Map Building (SLAM) technique for indoor mobile robot navigation based on OpenMP. Particle Filter (PF) based SLAM provides an effective indoor mobile robot navigation framework, but real-time performance of PF needs improving due to their inherent complex and intensive computation. OpenMP is the product of the multi-core technology development and has been widely accepted by both industry and academia. We propose a multi-thread particles filter algorithm based on OpenMP to reduce computation time of PF and execution time of SLAM. The results in real experiments and simulations show that the parallel PF-SLAM algorithm based on OpenMP could reduce the SLAM execution time while guaranteeing the accuracy of SLAM.