Genetic Algorithmic Filter Approach to Mobile Robot Simultaneous Localization and Mapping

摘要

This paper presents a genetic algorithmic filter (GAF) approach to mobile robot simultaneous localization and mapping (SLAM). A Genetic algorithmic approach is used to solve the SLAM problem by concurrently optimizing appropriate cost functions defined over two sets of chromosome populations representing the robot pose and the environmental map. As such the methodology has the potential to produce globally consistent solutions to this highly non-linear, non-Gaussian SLAM problem. Similar to Monte-Carlo probabilistic localization, particles or chromosomes are used to represent the belief state of the robot and the environmental map. However, unlike in the case of a particle filter approach such as FastSLAM, the genetic algorithmic approach presented in the paper does not rely on environmental feature extraction and data association. Further, it is shown how the problems of sample impoverishment associated with re-sampling which is common in a particle filter approach can be systematically and effectively overcome through the application of a parallel variant of the genetic algorithm with associated operators. Simulation and experimental results are presented to demonstrate definite performance gains achievable through the use of GAF-SLAM and its potential to yield globally consistent SLAM results