Multi-Step Look-Ahead Trajectory Planning in SLAM: Possibility and Necessity

The Institute of Electrical and Electronic Engineers Inc
Publication Type:
Conference Proceeding
Proceedings of 2005 IEEE International Conference on Robotics and Automation, 2005, pp. 1103 - 1108
Issue Date:
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In this paper, the possibility and necessity of multistep trajectory planning in Extended Kalman Filter (EKF) based SLAM is investigated. The objective of the trajectory planning here is to minimize the estimation error of the robot and landmark locations subject to a given time horizon. We show that the problem can be regarded as an optimization problem for a gradually identified model. A numerical method is proposed for trajectory planning using a variant of the nonlinear Model Predictive Control (MPC). The proposed method is optimal in the sense that the control action is computed using all the information available at the time of decision making. Simulation results are included to compare the results from the one-step look-ahead trajectory planning and the proposed multi-step lookahead technique
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