Abstract:
In this work a novel solution to the Simultaneous Localization and Mapping (SLAM) problem for a mobile robot moving in an unknown indoor environment is proposed. The algo...Show MoreMetadata
Abstract:
In this work a novel solution to the Simultaneous Localization and Mapping (SLAM) problem for a mobile robot moving in an unknown indoor environment is proposed. The algorithm uses an Extended Kalman filter and a set of polynomials to map the robot surrounding environment boundaries. The main idea behind the proposed SLAM solution is to use the SLAM landmark extraction process to map the environment boundaries shape and the Kalman filter to estimate boundaries position. The algorithm uses measurements taken from a set of distance sensors placed on the robot. The proposed method has been evaluated in both numerical and experimental tests obtaining satisfactory estimation and mapping results.
Published in: 53rd IEEE Conference on Decision and Control
Date of Conference: 15-17 December 2014
Date Added to IEEE Xplore: 12 February 2015
ISBN Information:
Print ISSN: 0191-2216
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Mobile Robot ,
- Simultaneous Localization And Mapping ,
- Unknown Indoor Environments ,
- Kalman Filter ,
- Mapping Results ,
- Extended Kalman Filter ,
- Unknown Environment ,
- Set Of Sensors ,
- Mapping Problem ,
- Set Of Polynomials ,
- Distance Sensor ,
- Environmental Boundaries ,
- Mean Square Error ,
- Numerical Simulations ,
- Computation Time ,
- Covariance Matrix ,
- Performance Of Algorithm ,
- Localization Performance ,
- Order Polynomial ,
- Status Updates ,
- Least Mean Square ,
- Robot Pose ,
- Landmark Data ,
- Augmented State ,
- Error Covariance Matrix ,
- Environment Map ,
- Robot Motion ,
- Map Tasks ,
- Robot State ,
- Set Of Heuristics
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Mobile Robot ,
- Simultaneous Localization And Mapping ,
- Unknown Indoor Environments ,
- Kalman Filter ,
- Mapping Results ,
- Extended Kalman Filter ,
- Unknown Environment ,
- Set Of Sensors ,
- Mapping Problem ,
- Set Of Polynomials ,
- Distance Sensor ,
- Environmental Boundaries ,
- Mean Square Error ,
- Numerical Simulations ,
- Computation Time ,
- Covariance Matrix ,
- Performance Of Algorithm ,
- Localization Performance ,
- Order Polynomial ,
- Status Updates ,
- Least Mean Square ,
- Robot Pose ,
- Landmark Data ,
- Augmented State ,
- Error Covariance Matrix ,
- Environment Map ,
- Robot Motion ,
- Map Tasks ,
- Robot State ,
- Set Of Heuristics
