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Mathematical Problems in Engineering
Volume 2014, Article ID 967032, 7 pages
Research Article

Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction

1School of Electrical and Electrical Engineering, East China Jiaotong University, Nanchang 330013, China
2Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

Received 19 December 2013; Revised 16 April 2014; Accepted 20 April 2014; Published 12 May 2014

Academic Editor: Piermarco Cannarsa

Copyright © 2014 Shi-Ming Chen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Considering the influence of uncertain map information on multirobot SLAM problem, a multirobot FastSLAM algorithm based on landmark consistency correction is proposed. Firstly, electromagnetism-like mechanism is introduced to the resampling procedure in single-robot FastSLAM, where we assume that each sampling particle is looked at as a charged electron and attraction-repulsion mechanism in electromagnetism field is used to simulate interactive force between the particles to improve the distribution of particles. Secondly, when multiple robots observe the same landmarks, every robot is regarded as one node and Kalman-Consensus Filter is proposed to update landmark information, which further improves the accuracy of localization and mapping. Finally, the simulation results show that the algorithm is suitable and effective.