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An evolutionary algorithm for simultaneous localization and mapping (SLAM) of mobile robots

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Abstract:

This paper presents a novel algorithm for simultaneous localization and mapping (SLAM) of mobile robots. The algorithm, termed Evolutionary SLAM, is based on an island model genetic algorithm (IGA). The IGA searches for the most probable map(s) such that the underlying robot's pose(s) provide(s) a robot with the best localization information. The correspondence problem in SLAM is solved by exploiting the property of natural selection, to support only better-performing individuals to survive. The algorithm does not follow any explicit heuristics for loop closure, rather it maintains multiple hypotheses to solve the loop-closing problem. The algorithm processes sensor data incrementally and, therefore, has the capability to work online. Experimental results in different indoor environments validate the robustness of the proposed algorithm.

Keywords: GENETIC ALGORITHM; ISLAND MODEL; LOCALIZATION; MAPPING; MOBILE ROBOT

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855307781035664

Affiliations: Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St John's, NL A1B 3X5, Canada

Publication date: September 1, 2007

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