Abstract
The Minimal Connected Dominating Set ( MCDS) method can solve the problem that the scale of data association increases with the map grows in process of Simultaneous Localization and Mapping-building ( SLAM) . Therefore, two improvements were introduced. Firstly, MCDS was constructed lingeringly. Secondly, MCDS was searched adaptively. The MCDS of K times was set up delay at K + 1 times. According to the number of environment characteristics, the map data within N time was searched. At the same time, the joint compatibility criterion and branch and bound algorithm was used in data association. The simulation results indicate that data association results of minimizing connected dominating set are reliable, and the capability of reducing computational complexity is outstanding.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
