An interval SLAM algorithm for leg–arm mobile robots based on a CBMeMBer filter with Gaussian indicator box-particles

Abstract

Abstract During the implementation of SLAM methods based on probability hypothesis density with sequential Monte Carlo (SMC), it is necessary to generate a relatively large number of particles for mapping and to cluster particles for target state extraction, which brings about heavy computing requirements and difficulty in enhancing the estimation accuracy. Along these lines, in this work, an interval SLAM algorithm for a leg–arm mobile robot (LA-MR) is presented, which is based on cardinality-balanced multi-target multi-Bernoulli filter (CBMeMBer) with Gaussian indicator box-particles (GIBPs). First, an effective strategy for improving the selection criterion of subdivision box-particles is given via the indicator subdivision resampling to provide more reliable box-particles. In addition, mixtures of Gauss distributions with box supports were developed to fit the posterior probability, i.e. GIBP. Then, the GIBP filter was employed to implement the CBMeMBer filter and thus the particle numbers were significantly reduced to decrease the computational complexity compared with the SMC-CBMeMBer filter. In this way, the feature map learning is considered as a multi-target tracking problem, whereas a kind of SLAM algorithm for LA-MR was also designed and implemented through the GIBP-CBMeMBer filter, in which the GIBP filter is used to realize simultaneous localization and the GIBP-CBMeMBer filter is utilized to build a map. A series of experiments and a case study clearly illustrated the performance superiority of the proposed algorithms.