By Topic

A Practical Exploration Approach Applied to Robot Simultaneous Localization and Map Building Process

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Yutong Zang ; Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China, ; Kui Yuan ; Wei Zou ; Huosheng Hu

Whether the mobile robot has the ability to explore an entire environment influences the integrality of map built by mobile robot in unknown environment. However, this demand becomes challenging when mobile robot experiences positioning error and sensor noises in practical environment. In this paper, a novel exploration approach called FRT is proposed to solve the problem. The moment invariants widely used in image processing field and the DS evidence theory used for multi-sensors information fusion are both introduced into FRT algorithm to ensure the robustness of FRT algorithm. The FRT algorithm is validated by a simulation experiment and the experimental results demonstrate its performance.

Published in:

Industrial Technology, 2006. ICIT 2006. IEEE International Conference on

Date of Conference:

15-17 Dec. 2006