Simultaneous localization and mapping using a robot partner in dynamic environment

摘要

This paper proposed robot partner by using simultaneous localization and mapping based on computational intelligence. The target of the paper is the application of map building and map's noise reduction method for mobile robot in living space based only on distance data. First, we proposed method of self-location update. In this paper, Robot partner could updates self-location by using the steady-state genetic algorithm. Next, we propose map building method based on a topological map based on growing topological neural network. Then we propose noise reduction for the mapping. Finally, we discuss the effectiveness of the proposed methods. Due to the results, we can confirm the usefulness of the proposed method.