Hierarchical-map Updating Approach for Simultaneous Localization and Mapping of Mobile Robots
Abstract: For the tremendously
increasing of system state in wild field, the computational complexities of mobile
robot system should be taken into account. This paper proposes a
hierarchical-map updating approach for simultaneous localization and mapping of
robots. The basic idea of hierarchical-map isdefining two kinds of maps during
the recursive updating process, namely local map (upper map) andglobal map
(lower map). The system states will be updated by the preset maps. The
hierarchical-mapupdating process is just for the upper map and the lower map is
updated after a certain running term. Inthe calculation, the state data of the
upper map is far less than that of the lower map. It is validated by theexperiments
that, the approach is more optimal than others in computational complexities
while ensuring the consistency estimate.
Keywords: hierarchical-map
updating, computational complexity, simultaneous localization and map building,
mobile robots
Author: Yingmin Yi, Zhimin
Wang
Journal Code: jptkomputergg150065
