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Vol. 138, No. 3, March 2012, pp. 141-148

 

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Stochastic Filters for Mobile Robot SLAM Problems - A Review

 

K. Ramkumar, N. S. Manigandan

School of Electrical & Electronics Engineering, SASTRA University

Tirumalaisamudram 613 402. India

Tel.: +91 9345446182

E-mail: ramkumar@eie.sastra.edu

 

 

Received: 20 December 2011   /Accepted: 20 March 2012   /Published: 31 March 2012

Digital Sensors and Sensor Sysstems

 

Abstract: Simultaneous Localization and Mapping (SLAM) is a challenging area of research in robotics domain. Implementation of SLAM using stochastic filters has been an interesting area of research for the past two decades. The aim of this paper is to provide a comprehensive review of the research work done on stochastic filters based approaches in SLAM problem. The effectiveness and computational issues of these filters are examined. The limiting factors associated with these probabilistic filters identified from various literatures in this domain are addressed. In addition the scope of further research work in the area of SLAM is being highlighted.

 

Keywords: SLAM, EKF, Particle filter

 

 

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