Integration of Algorithms for Maps Construction and Simultaneous Localization in a Mobile Robot
作者： D. Rojas , F. Passold , R. Osorio , C. Cubillos , G. Lefranc
DOI: 10.3182/20130911-3-BR-3021.00098
关键词: Computer vision 、 Algorithm 、 Artificial intelligence 、 Spiral (railway) 、 Geography 、 Navigation system 、 Trajectory method 、 Mobile robot navigation 、 Simultaneous localization and mapping 、 Mobile robot 、 Obstacle
摘要: In this paper it is presented an integration of algorithms that permits maps construction and navigation mobile robots. Simultaneous Localization Mapping (SLAM) algorithm used based on FastSLAM method. Navigation system VHF to avoid obstacle a spiral way trajectory To three different complex simulation are evaluate the system.
researchgate.net 
sci-hub.se 参考文章(15)
Jean-Claude Latombe, Robot Motion Planning ,(1990)
Gregory D. Hager, An Experimental System Springer, Boston, MA. pp. 175- 198 ,(1990) , 10.1007/978-1-4613-1545-2_8
Philippe Moutarlier, Raja Chatila, An Experimental System for Incremental Environment Modelling by an Autonomous Mobile Robot international symposium on experimental robotics. pp. 327- 346 ,(1989) , 10.1007/BFB0042528
Alfonso Alzate, Carlos Restrepo, Jason Molina, Carlos Torres, Localización y construcción de un mapa en forma simultanea utilizando el filtro extendido de Kalman Revista INGENIERÍA UC. ,vol. 16, pp. 11- 18 ,(2009)
Dieter Fox, Adapting the Sample Size in Particle Filters Through KLD-Sampling The International Journal of Robotics Research. ,vol. 22, pp. 985- 1003 ,(2003) , 10.1177/0278364903022012001
Jae Bok Song, Tae Bum Kwon, Yong Ju Lee, SLAM of a Mobile Robot using Thinning-based Topological Information International Journal of Control Automation and Systems. ,vol. 5, pp. 577- 583 ,(2007)
Ben Wegbreit, Michael Montemerlo, Sebastian Thrun, Daphne Roller, FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges international joint conference on artificial intelligence. pp. 1151- 1156 ,(2003)
J.J. Leonard, H.F. Durrant-Whyte, Mobile robot localization by tracking geometric beacons international conference on robotics and automation. ,vol. 7, pp. 376- 382 ,(1991) , 10.1109/70.88147
I. Ulrich, J. Borenstein, VFH+: reliable obstacle avoidance for fast mobile robots international conference on robotics and automation. ,vol. 2, pp. 1572- 1577 ,(1998) , 10.1109/ROBOT.1998.677362
M. Montemerlo, S. Thrun, Simultaneous localization and mapping with unknown data association using FastSLAM international conference on robotics and automation. ,vol. 2, pp. 1985- 1991 ,(2003) , 10.1109/ROBOT.2003.1241885