Indian Journal of Science and Technology

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Enhanced SLAM for Autonomous Mobile Robots using Unscented Kalman Filter and Neural Network


Affiliations
1 Department of Computer, Ayatollah Amoli Branch, Islamic Azad University, Amol, Iran, Islamic Republic of
2 Department of Computer and IT, Hadaf Higher Education Institute, Sari, Iran, Islamic Republic of
3 Department of Computer, Yazd Branch, Islamic Azad University, Yazd, Iran, Islamic Republic of
4 Mazandaran University of Medical Sciences, Sari, Iran, Islamic Republic of
 

The novel method of mobile robot Simultaneous Localization And Mapping (SLAM), which is implemented by optimized Unscented Kalman Filter (UKF) Via a Radial Basis Function (RBF) for autonomous robot in unknown indoor environment is proposed. For atone the Unscented Kalman Filter based SLAM errors intrinsically caused by its linearization process, the Radial Basis Function Network is composed with Unscented Kalman Filter. A mobile robot localizes itself autonomously and makes a map simultaneously while it is tracking in an unknown environment. The offered approach has some benefits in handling a robotic system with nonlinear movements because of the learning feature of the Radial Basis Function. The simulation results show the powers and effectiveness of the proposed algorithm comparing with a Standard UKF.

Keywords

Hybrid Filter, Mobile robot, RBF, SLAM, UKF
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  • Enhanced SLAM for Autonomous Mobile Robots using Unscented Kalman Filter and Neural Network

Abstract Views: 217  |  PDF Views: 0

Authors

Omid Panah
Department of Computer, Ayatollah Amoli Branch, Islamic Azad University, Amol, Iran, Islamic Republic of
Amir Panah
Department of Computer and IT, Hadaf Higher Education Institute, Sari, Iran, Islamic Republic of
Amin Panah
Department of Computer, Yazd Branch, Islamic Azad University, Yazd, Iran, Islamic Republic of
Samere Fallahpour
Mazandaran University of Medical Sciences, Sari, Iran, Islamic Republic of

Abstract


The novel method of mobile robot Simultaneous Localization And Mapping (SLAM), which is implemented by optimized Unscented Kalman Filter (UKF) Via a Radial Basis Function (RBF) for autonomous robot in unknown indoor environment is proposed. For atone the Unscented Kalman Filter based SLAM errors intrinsically caused by its linearization process, the Radial Basis Function Network is composed with Unscented Kalman Filter. A mobile robot localizes itself autonomously and makes a map simultaneously while it is tracking in an unknown environment. The offered approach has some benefits in handling a robotic system with nonlinear movements because of the learning feature of the Radial Basis Function. The simulation results show the powers and effectiveness of the proposed algorithm comparing with a Standard UKF.

Keywords


Hybrid Filter, Mobile robot, RBF, SLAM, UKF



DOI: https://doi.org/10.17485/ijst%2F2015%2Fv8i20%2F114815