Title :
A polynomial based SLAM algorithm for mobile robots using ultrasonic sensors - Experimental results
Author :
D´Alfonso, Luigi ; Grano, Antonio ; Muraca, Pietro ; Pugliese, Paolo
Author_Institution :
DIMES, Univ. della Calabria, Rende, Italy
Abstract :
In this work the Simultaneous Localization And Mapping (SLAM) problem for a mobile robot placed in an unknown indoor environment is faced. The environment is modeled as a set of polynomials used as SLAM landmarks. A polynomial based mapping algorithm is proposed and used along with an Extended Kalman filter to yield a solution to the SLAM problem. The filter updates the robot position and orientation estimation and the environment mapping using sparse measurements taken from a set of on board ultrasonic sensors. The proposed algorithm has been evaluated in both numerical and experimental tests obtaining very good estimation and mapping results.
Keywords :
Kalman filters; SLAM (robots); attitude control; indoor environment; mobile robots; nonlinear filters; polynomials; position control; ultrasonic transducers; extended Kalman filter; indoor environment mapping; mobile robots; on-board ultrasonic sensor; polynomial based SLAM; polynomial based mapping algorithm; robot orientation estimation; robot position; simultaneous localization and mapping; sparse measurements; Covariance matrices; Mobile robots; Polynomials; Simultaneous localization and mapping;
Conference_Titel :
Advanced Robotics (ICAR), 2013 16th International Conference on
Conference_Location :
Montevideo
DOI :
10.1109/ICAR.2013.6766462
