Pseudo-measured LPV Kalman filter for SLAM

摘要

This paper describes a new approach to the well-known robotics problem of simultaneous location and mapping (SLAM). The proposed technique introduces a linear varying parameter (LPV) modeling solution for the estimation of nonlinear models in a Kalman Filter based algorithm. In this technique, the estimation model for the robotic device considered is modeled as a quasi-LPV model, which in turn, is linearized around a set of given points of the varying parameter. The observation model is rearranged into a pseudo-measurement model, which is used in form of a pseudo-linear model during the update stage of the Kalman filter. The initial tests and experimentations suggest that this technique can improve Extended Kalman Filter SLAM results by avoiding a great deal of the bias introduced by linearization of nonlinear models into EKF equations.