Open AccessSimulation and Analysis of Particle Filter Based Slam System
Author(s) -
Piotr Kaniewski,
Pawel Słowak
Publication year - 2018
Publication title -
annual of navigation
Language(s) - English
Resource type - Journals
eISSN - 2300-6633
pISSN - 1640-8632
DOI - 10.1515/aon-2018-0010
Subject(s) - particle filter , simultaneous localization and mapping , trajectory , computer science , position (finance) , terrain , computer vision , artificial intelligence , filter (signal processing) , robot , mobile robot , geography , physics , cartography , finance , astronomy , economics
The paper describes a problem and an algorithm for simultaneous localization and mapping (SLAM) for an unmanned aerial vehicle (UAV). The algorithm developed by the authors estimates the flight trajectory and builds a map of the terrain below the UAV. As a tool for estimating the UAV position and other parameters of flight, a particle filter was applied. The proposed algorithm was tested and analyzed by simulations and the paper presents a simulator developed by the authors and used for SLAM testing purposes. Chosen simulation results, including maps and UAV trajectories constructed by the SLAM algorithm are included in the paper.