Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction

摘要

Considering the influence of uncertain map information on multirobot SLAM problem, a multirobot FastSLAM algorithm based on landmark consistency correction is proposed. Firstly, electromagnetism‐like mechanism is introduced to the resampling procedure in single‐robot FastSLAM, where we assume that each sampling particle is looked at as a charged electron and attraction‐repulsion mechanism in electromagnetism field is used to simulate interactive force between the particles to improve the distribution of particles. Secondly, when multiple robots observe the same landmarks, every robot is regarded as one node and Kalman‐Consensus Filter is proposed to update landmark information, which further improves the accuracy of localization and mapping. Finally, the simulation results show that the algorithm is suitable and effective.