Tehnički vjesnik, Vol. 32 No. 5, 2025.
Izvorni znanstveni članak
https://doi.org/10.17559/TV-20240720001869
Synchronous Localization and Mapping of Mobile Robots Based on Pose Graph Optimization Algorithm
Xuan Rong Zhao
; Si Chuan top ITVocational Institute, Cheng Du, Si Chuan, China, 611743
*
* Dopisni autor.
Sažetak
This study proposes an enhanced Simultaneous Localization and Mapping (SLAM) technique for mobile robots, integrating Inertial Measurement Unit (IMU) pre-integration theory with a Cardinality Balanced Multi-target Multi-Bernoulli (CBMeMBer) filter for pose graph optimization. The method aims to improve the accuracy of laser point cloud pose estimation and enhance posegraph optimization. Experimental results on public datasets demonstrate the model's superior performance, achieving 97% processing accuracy with a minimum of 180 iterations. Compared to existing advanced models, the proposed approach shows improved trajectory prediction and error control, with the lowest root mean square error of 1.86 m in positioning distance. This research contributes to advancing SLAM technology for more accurate and efficient robot navigation in complex environments.
Ključne riječi
mapping; pose graph optimization; positioning; robots; trajectory
Hrčak ID:
335052
URI
Datum izdavanja:
30.8.2025.
Posjeta: 263 *