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Sensing and Control for Autonomous Vehicles pp 121–141Cite as

New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 474))

Abstract

This chapter presents an overview of algorithms deeply rooted in a sensor-based approach to the SLAM problem that provide global convergence guarantees and allow for the use of partially observable landmarks. The presented algorithms address the more usual range-and-bearing SLAM problem, either in 2-D using a LiDAR or in 3-D using an RGB-D camera , as well as the range-only and bearing-only SLAM problems. For each of these formulations a nonlinear system is designed, for which state and output transformations are considered together with augmented dynamics, in such a way that the underlying system structure can be regarded as linear time-varying for observability analysis and filter design purposes. This naturally allows for the design of Kalman filters with, at least, globally asymptotically stable error dynamics, for which several experimental and simulated trials are presented to highlight the performance and consistency of the obtained filters.

C. Silvestre on leave from the Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal The original version of this chapter was revised: Missing author name has been included. The erratum to this chapter is available at https://doi.org/10.1007/978-3-319-55372-6_24

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Acknowledgements

This work was supported by the Fundação para a Ciência e a Tecnologia (FCT) through ISR under LARSyS UID/EEA/50009/2013, and through IDMEC, under LAETA UID/EMS/50022/2013 contracts, by the University of Macau Project MYRG2015-00126-FST, and by the Macao Science and Technology Development Fund under Grant FDCT/048/2014/A1. The work of P. Lourenço and B. Guerreiro were supported respectively by the Ph.D. Student Grant SFRH/BD/89337/2012 and by the Post-doc Grant SFRH/BPD/110416/2015 from FCT.

Author information

Authors and Affiliations

  1. Laboratory for Robotics and Engineering Systems, Institute for Systems and Robotics, Lisbon, Portugal

    Pedro Lourenço, Bruno Guerreiro & Pedro Batista

  2. Department of Electrical and Computer Engineering, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

    Pedro Batista

  3. Department of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

    Paulo Oliveira

  4. Department of Electrical and Computer Engineering of the Faculty of Science and Technology, University of Macau, Macao, China

    Carlos Silvestre

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  1. Pedro Lourenço
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  2. Bruno Guerreiro
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  3. Pedro Batista
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  4. Paulo Oliveira
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  5. Carlos Silvestre
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Correspondence to Pedro Batista .

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Editors and Affiliations

  1. Norwegian University of Science and Technology (NTNU), Trondheim, Norway

    Thor I. Fossen

  2. Norwegian University of Science and Technology (NTNU), Trondheim, Norway

    Kristin Y. Pettersen

  3. Eindhoven University of Technology (TuE), Eindhoven, The Netherlands

    Henk Nijmeijer

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Lourenço, P., Guerreiro, B., Batista, P., Oliveira, P., Silvestre, C. (2017). New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation. In: Fossen, T., Pettersen, K., Nijmeijer, H. (eds) Sensing and Control for Autonomous Vehicles. Lecture Notes in Control and Information Sciences, vol 474. Springer, Cham. https://doi.org/10.1007/978-3-319-55372-6_6

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  • DOI: https://doi.org/10.1007/978-3-319-55372-6_6

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