WAYS OF DIMINISHING OF ERRORS OF CALCULATIONS OF COMPUTER OF AUTONOMOUS MOBILE OBJECT ARE FOR ALGORITHMS OF SLAM OF NAVIGATION

Abstract

A question is in-process considered, in relation to the lead through of estimation of complication of algorithms of EKF-SLAM and construction of map of locality in accordance with supporting points, from point of his algorithmically programmatic realization. It enables to determine the ways of subsequent development and adaptation of the known mathematical correlations of algorithms of EKF-SLAM and DP-SLAM for diminishing of errors of calculations of co-ordinates airborne COMPUTERS of autonomous mobile object for realization of algorithms. The estimation of the state of off-line mobile unit is arrived at by filtration of particles. The great number of hypotheses which are an eventual number is generated, which show by itself the predictable place of location of robot. Every meaningful element of map, that orienteer, in every particle can be appraised with the use of the extended filters of Kalmana, particles of robot conditioned position. And the coefficient of weight of particles settles accounts for determination of probability of hit of certain part in a final set, which will present not only the real place of location of autonomous mobile object on a map but also position of found out all orienteers. The way of modification of the known mathematical correlations of filters of Kalmana offered in-process from point of their adaptation to the features of algorithmic and programmatic realization in airborne COMPUTERS provides economy of memory of airborne COMPUTER and diminishing of necessary calculable resource It is noticed that the algorithms of realization of SLAM of navigation are changed the offered way use less of particles, than methods, based only on a frequency filter. The error of initial calculation of co-ordinates of orienteer is taken to the minimum and does not accumulate in course of time in mathematical sense.