Abstract
In this paper, we propose a simultaneous localization and mapping (SLAM) algorithm incorporating a dynamic switching mechanism to switch between FastSLAM 1.0 and 2.0, based on a threshold of effective sample size (ESS). By taking advantages of FastSLAM 1.0 and 2.0 through the proposed dynamic switching mechanism, execution efficiency is significantly improved while maintaining an acceptable accuracy of estimations. To show the effectiveness of our proposed approach in comparison to FastSLAM 1.0 and 2.0, several simulations are demonstrated in this paper.
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CITATION STYLE
Yeh, C. H., Chang, H. H., Hsu, C. C., & Wang, W. Y. (2017). Simultaneous localization and mapping with a dynamic switching mechanism (SLAM-DSM). In Advances in Intelligent Systems and Computing (Vol. 447, pp. 55–64). Springer Verlag. https://doi.org/10.1007/978-3-319-31293-4_5
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