Hierarchical-map Updating Approach for Simultaneous Localization and Mapping of Mobile Robots

Yingmin Yi, Zhimin Wang


For the tremendously increasing of system state in wild field, the computational complexities of mobile robot system should be taken into account. This paper proposes a hierarchical-map updating approach for simultaneous localization and mapping of robots. The basic idea of hierarchical-map is defining two kinds of maps during the recursive updating process, namely local map (upper map) and global map (lower map). The system states will be updated by the preset maps. The hierarchical-map updating process is just for the upper map and the lower map is updated after a certain running term. In the calculation, the state data of the upper map is far less than that of the lower map. It is validated by the experiments that, the approach is more optimal than others in computational complexities while ensuring the consistency estimate.

Full Text:


DOI: http://dx.doi.org/10.12928/telkomnika.v13i1.1275

Article Metrics

Abstract view : 336 times
PDF - 351 times


  • There are currently no refbacks.

Creative Commons License
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

TELKOMNIKA Telecommunication, Computing, Electronics and Control
ISSN: 1693-6930, e-ISSN: 2302-9293
Universitas Ahmad Dahlan, 4th Campus, 9th Floor, LPPI Room
Jl. Ringroad Selatan, Kragilan, Tamanan, Banguntapan, Bantul, Yogyakarta, Indonesia 55191
Phone: +62 (274) 563515, 511830, 379418, 371120 ext. 4902, Fax: +62 274 564604