Quantifying mobile robot localization safety for an EKF-based SLAM estimator: An integrity monitoring approach

摘要

The safety of SLAM-based estimation for mobile robots is a challenging research problem, particularly for life- or mission-critical exploratory applications. To address this problem, this work proposes a method to utilize integrity risk, a widely used performance metric in aviation, to quantify SLAM-based mobile robot’s localization safety. More importantly, the approach accounts for sensor measurement faults, unknown deterministic errors that cannot be modeled via Gaussian white noise. The method is tailored for an EKF-based SLAM estimator, a chi-squared failure detector, and a local nearest neighbors data association criterion. The results show that data association errors can cause significant positioning performance degradation that can only be predicted using the proposed integrity risk metric. Furthermore, the study demonstrates that as the map’s landmark density increases, mobile robot localization safety improves, except when the landmark map’s density is too high to make the features indistinguishable, which leads to positioning safety degradation.