Comparison of algorithms for simultaneous localization and mapping problem for mobile robot

摘要

THIS papers presents a comparison of selected algorithms for simultaneous localization and mapping (SLAM) problem in mobile robotics. Results of four general metaheuristics, Simple Genetic Algorithm, Particle Swarm Optimization, Quantum-Inspired Genetic Algorithms and Genetic Algorithm with Quantum Probability Representation, have been compared to results of classical, analytic method in this field, Iterative Closes Points algorithm. In the experiments the same objective function, drawn from Iterative Closest Points algorithm, has been used. Two situations have been considered: local and global localization problems of mobile robot. Both problems are import and often critical for successful navigation of robot in environment.