Mobile Robot Localization and Map Building: A Multisensor Fusion Approach

摘要: From the Publisher: During last decade, many researchers have dedicated their efforts to constructing revolutionary machines and providing them with forms of artificial intelligence perform some most hazardous, risky or monotonous tasks historically assigned human beings. Among those machines, mobile robots are undoubtedly at cutting edge current research directions. A rough classification can be considered: on one hand, oriented human-made indoor environments; other unstructured outdoor environments, which could include flying robots, space-oriented underwater robots. The common motion mechanism for surface is wheel-based mechanism, adapted both flat surfaces, found in terrain, environments. However, reported successful developments leg-based capable climbing up stairs, although they require further investigation. work presented here focuses that navigate The main problems described throughout this book are: Representation integration uncertain geometric information by means Symmetries Perturbations Model (SPmodel). This model combines use probability theory represent imprecision location a element, symmetries partiality due characteristics each type element. A solution first problem, is, computation an estimation themobile robot when vehicle completely lost environment. problem formulated as search interpretation tree using efficient matching algorithms constraints reduce size space. proposes new probabilistic framework simultaneous localization map building robots: Map (SPmap). has been experimentally validated complete experiment profited from ground-truth accurately validate precision appropriateness approach. The emphasizes generality solutions proposed different independence respect exteroceptive sensors mounted robot. Theoretical results complemented real experiments, where multisensor-based approaches highlighted.