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A novel algorithm for SLAM in dynamic environments using landscape theory of aggregation

  • Mechanical Engineering, Control Science and Information Engineering
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Abstract

To tackle the problem of simultaneous localization and mapping (SLAM) in dynamic environments, a novel algorithm using landscape theory of aggregation is presented. By exploiting the coherent explanation how actors form alignments in a game provided by the landscape theory of aggregation, the algorithm is able to explicitly deal with the ever-changing relationship between the static objects and the moving objects without any prior models of the moving objects. The effectiveness of the method has been validated by experiments in two representative dynamic environments: the campus road and the urban road.

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Authors and Affiliations

  1. School of Automation, Beijing Institute of Technology, Beijing, 100081, China

    Cheng-hao Hua  (华承昊), Li-hua Dou  (窦丽华) & Hao Fang  (方浩)

  2. College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, 410073, China

    Hao Fu  (付浩)

Authors
  1. Cheng-hao Hua  (华承昊)
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  2. Li-hua Dou  (窦丽华)
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  3. Hao Fang  (方浩)
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  4. Hao Fu  (付浩)
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Corresponding author

Correspondence to Cheng-hao Hua  (华承昊).

Additional information

Foundation item: Project(XK100070532) supported by Beijing Education Committee Cooperation Building Foundation, China

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Hua, Ch., Dou, Lh., Fang, H. et al. A novel algorithm for SLAM in dynamic environments using landscape theory of aggregation. J. Cent. South Univ. 23, 2587–2594 (2016). https://doi.org/10.1007/s11771-016-3320-9

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  • DOI: https://doi.org/10.1007/s11771-016-3320-9

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