Cooperative simultaneous localization and mapping algorithm based on distributed particle filter

摘要

In this article, cooperative simultaneous localization and mapping algorithm based on distributed particle filter is proposed for multi-robot cooperative simultaneous localization and mapping system. First, a multi-robot cooperative simultaneous localization and mapping system model is established based on Rao-Blackwellised particle filter and simultaneous localization and mapping (FastSLAM 2.0) algorithm, and an median of the local posterior probability (MP)-cooperative simultaneous localization and mapping algorithm combined with the M-posterior distributed estimation algorithm is proposed. Then, according to the accuracy advantage of the early landmarks comparing to the later landmarks in the simultaneous localization and mapping task, an improved time-median of the local posterior probability (MP)-cooperative simultaneous localization and mapping algorithm based on time difference optimization is proposed, which optimizes the weights of the local estimation and improves the accuracy of the global estimation. The simulation results show that the algorithm is practical and effective.