Scan matching based SLAM - dealing with dynamic obstacles

• Autorzy: Krejsa J. , Vechet S.
• Konferencja: International Seminar of Applied Mechanics (12 ; 13-15.06.2008 ; Wisła, Polska)
• Języki publikacji: EN

Abstrakty

EN

Localization and mapping is essential task in autonomous mobile robotics. There is a number of methods dealing with the task. The method called Potential-Based Scan Matching uses proximity sensor data and does not require the odometry readings for successful localization. The method is resistant towards the noise in proximity sensors. This paper is focused on testing the method in dynamically changing environment. Tests were performed for variable size of obstacles and speed of its motion.

Słowa kluczowe

EN

autonomous mobile robot; robot localization; SLAM; dynamic obstacle

PL

robot mobilny autonomiczny; lokalizacja robota; SLAM; przeszkoda ruchoma

• Wydawca: Wydawnictwo Katedry Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Modelling and Optimization of Physical Systems
• Rocznik: 2008
• Tom: z. 7
• Strony: 59--62
• Opis fizyczny: Bibliogr. 2 poz.

Twórcy

autor

Krejsa J.

• Brno University of Technology, Faculty of Mechanical Engineering, Technická 2, 616 69, Brno, Czech Republic, tel. [phone]

autor

Vechet S.

• Brno University of Technology, Faculty of Mechanical Engineering, Technická 2, 616 69, Brno, Czech Republic, tel. [phone]

Bibliografia

• 1. Montemerlo M., Thrun S., Koller D., Wegbreit B: FastSLAM: A factored solution to the simultaneous localization and mapping problem, in AAAI-2002, 2002
• 2. Krejsa J., Věchet S.: Fast Scan Matching for Mobile Robot Localization, Engineering Mechanics 2008, Svratka, 2008