The simultaneous localization and mapping

(SLAM)
for Autonomous robot

Presented By,
T.ARUNGANDHI(18MCOO1)
C.VAISHNAVI(18MC)
SAI ASHUPATHI RAJAN(18MC)
 INTRODUCTION

The simultaneous localization and mapping (SLAM) problem is one of the

major research areas in the robotic community, which is a key requirement for the
development of autonomous robots.

The SLAM is a technique used by robots to :

 Continuously locate itself in an unknown environment using its sensor inputs.

 Build its own map at the same time for future localization or navigation.

 When the robot explores a new place, new landmarks are added to the map and the

map is built incrementally.

 Based on the estimated location and the map, an autonomous robot can navigate

around the environment.

 The SLAM involves three major steps namely:
 Knowledge acquisition
 Map building and management
 Robot localization

Knowledge acquisition :
In knowledge acquisition, information (landmarks)
is extracted from the input sensor data. For example, corner, line, pattern and
reliable feature are extracted from image.
Map building and management:
In map building and management, the map is built
continuously by adding new landmarks that the robot explored during its
navigation.
Robot localization :
Robot localization is to estimate the robot
state (e.g. position, orientation, velocity, acceleration, etc.) continuously according
to the extracted landmarks, the current map and the previous robot states
 Many localization algorithms for wheeled robots using various sensors have
been proposed.

 In this , we present a visual localization algorithm for a small home-use robot

pet (legged robot). A low-resolution camera is equipped on the robot as the only
sensor for localization.

 In the proposed algorithm, the localization for movement of the robot is

modeled as an optimization. The objective function is then solved by a genetic
algorithm.
Genetic Algorithm

 Genetic algorithms (GAs) are search algorithms that model the mechanism of
natural selection.

 A candidate solution of the optimization problem is represented as a string of

elements called chromosome, where each element is one of the parameters in
the solution called gene.

 To initialize the process, a set of chromosomes are generated randomly within

the search space. GA initial population (parents) using genetic operators.

 Two common genetic operators are mutations and crossovers.

 fitness of set of chromosomes with size equal to the population size is selected
from the parents and offspring.
Formation of Chromosome

 The camera position vector p is composed of three parameters: px, py and pz

which are coordinates along the x-, y and z-axis.

 These parameters are independent to each other and this representation does not
have redundancy.

 Therefore, they are directly defined as position genes in the chromosome, i.e.
(Px Py Pz).

 Orientation in 3D space is commonly represented by three angles that describe

the rotations about the x-, y-and zaxis, known as Euler angles.

 Hence, the chromosome is composed of the position and orientation genes in

the form of: (Px Py Pz Qα Qβ Ql).
 Fitness Function

 Fitness function is important in the genetic algorithm as it measures the qualities

of chromosomes in the selection process.

 In vision-based localization, given a set of landmark positions and the

corresponding feature coordinates, the fitness of a chromosome denotes the
goodness of the camera state represented by its genes.

 The goodness of a possible camera state can be measured by the following

function:

.
 Fitness Function

.
Crossover And Mutation

 In the reproduction process, new chromosomes are reproduced from the current
population by genetic operators to perform the search.

 Mutation and crossover are two standard operators used in our proposed
algorithm.

 In our proposed algorithm, multi-point crossover is used.. Hence, the effective

crossover rate of each gene is 0.5.

 Mutation is another genetic operator used in reproduction.Given a chromosome

(parent) from the current population, a new individual is reproduced by
mutating some of the genes in the parent.

 Each gene has half probability to mutate so the effective mutation rate of each
gene is 0.5.
Selection Conditions

 After the reproduction process, there are newly generated chromosomes and
chromosomes from current population.

 In the selection process, chromosomes are selected from themfor the next
generation by means of “survival of the fittest”. This means that individuals are
selected according to their fitness.

 In order to maintain the divergence,For each pair of mutation generated

offspring and its corresponding parent, the one with better fitness is chosen.This
prevents both chromosomes from a parent and its child pair are selected

 On the other hand, the crossover generated chromosomes are sorted by fitness,
the fittest chromosomes are selected.
Termination Conditions

 The reproduction and selection process are repeated in every generation until
either of the following terminate conditions is satisfied:

• The chromosome are converged that is the fitness of the fittest

chromosome remains unchanged for the number of generations that
equal to the convergence threshold.

• The number of generations exceed the maximum number of

generations Tg
.

 In the proposed algorithm, the convergence threshold and Tg are set to 30 and
100 respectively.
Flow Diagram