Evolutionary Particle Filter for Robust Simultaneous Localization and Map Building with Laser Range Finder

摘要

Robust simultaneous localization and map building (SLAM) is a key issue for mobile robot in presence of faults. In the paper, an adaptive evolutionary particle filter is designed to achieve robust SLAM for wheeled mobile robot when the laser range finder is subjected to errors. Firstly, a robust perception model for laser range finder is presented. The robustness of the provided model is two folds, (1) error beams of laser range finder are filtered out with segment analysis method, and (2) beams occluded by dynamical objects are filtered out with a high pass filter. Secondly, an adaptive mutation scheme is adopted to recover the diversity of the particles after resampling stage. Lastly, the presented method is testified in a real mobile robot.