The International Journal of Robotics Research Study, Ahead of Publish.
The safety and security of SLAM-based estimate for mobile robotics is a tough research study trouble, especially permanently- or mission-critical exploratory applications. To resolve this trouble, this job suggests a technique to make use of honesty threat, an extensively made use of efficiency metric in aeronautics, to evaluate SLAM-based mobile robotic’s localization safety and security. Extra significantly, the method represent sensing unit dimension mistakes, unidentified deterministic mistakes that can not be designed using Gaussian white sound. The technique is customized for an EKF-based bang estimator, a chi-squared failing detector, and a neighborhood closest next-door neighbors information organization requirement. The outcomes reveal that information organization mistakes can trigger substantial placing efficiency destruction that can just be forecasted utilizing the suggested honesty threat statistics. In addition, the research shows that as the map’s site thickness boosts, mobile robotic localization safety and security boosts, other than when the site map’s thickness is expensive to make the functions equivalent, which causes placing safety and security destruction.
发布者：Osama Abdul Hafez，转转请注明出处：https://robotalks.cn/quantifying-mobile-robot-localization-safety-for-an-ekf-based-slam-estimator-an-integrity-monitoring-approach/
