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Uncertain Spatial Knowledge Management in a Mobile Robot Architecture

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1 Author(s)
Skrzypczynski, P. ; Inst. of Control & Inf. Eng., Poznan Tech. Univ.

In this paper a new approach to spatial knowledge management for a mobile robot is proposed. The framework merges two types of maps, grid and feature based, and two uncertainty representations, probabilistic and fuzzy. It is implemented by a set of logical sensors, that extract features from range sensors data, filter out artifacts, and estimate the robot displacement. Indoor simultaneous localization and mapping is considered as the target application

Published in:
Multisensor Fusion and Integration for Intelligent Systems, 2006 IEEE International Conference on

Date of Conference: Sept. 2006

Page(s):
420 - 425
E-ISBN :
1-4244-0567-X
Print ISBN:
1-4244-0566-1
INSPEC Accession Number:
9377092
Conference Location :
Heidelberg
Digital Object Identifier :
10.1109/MFI.2006.265600
Product Type:
Conference Publications

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