Innovation-Superposed Simultaneous Localization and Mapping of Mobile Robots Based on Limited Augmentation

摘要

In this paper, Aaiming at the problem of simultaneous localization mapping (SLAM) for mobile robots, a limited-augmentation innovation superposition (LAIS) is proposed to solve the problems occurring in SLAM. By extending the single-time innovation superposition to multi-time innovation, the error accumulation during the movement of mobile robots is reduced and the accuracy of the algorithm is improved. At the same time, when the number of feature points observed by the sensor exceeds the threshold, the sensor range is restricted. Therefore, only the qualified feature points are added to the system state vector, which reduces the calculation amount of the algorithm and improves the running speed. Simulation results show that compared with other algorithms, LAIS has higher accuracy and higher running speed in environmental maps with a different number of landmark points.