Reis, MF; Moayyed, H; Aguiar, AP
14th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2020
1 July 2020 through 3 July 2020
ID Authenticus: P-00S-RP9
DOI: 10.1007/978-3-030-58653-9_53
Abstract:One of the applications of the Kalman filter in the field of robotics is to solve the problem of Simultaneous Localization and Mapping (SLAM). The main drawback of the Kalman filter is that its performance can degrade in the presence of non-Gaussian measurement noise. In robotic systems using laser range finders such as the LiDAR, often optical properties of the beam-environment interaction introduce non-Gaussian noise into the system, which can significantly affect performance. In this paper, we investigate this problem and propose a SLAM algorithm similar to the Extended Kalman filter but based on the Maximum Correntropy Criteria (MCC), which aims to exhibit better performance than the classical Extended Kalman filter for some types of non-Gaussian noises. The performance of the proposed MCC-EKF SLAM and the classical EKF SLAM are compared by means of numerical simulations. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.