Title :
RBPF-based map generation for an indoor mobile robot
Author :
Sheng, Jinbo ; Jia, Songmin ; Tano, Shunichi ; Li, Xiuzhi
Author_Institution :
Grad. Sch. of Inf. Syst., Univ. of Electro-Commun., Tokyo, Japan
Abstract :
In this paper, an effective RBPF-based map generation approach for an indoor mobile robot based on Laser Range Finder is introduced in detail. We use Particle Filter (PF) for sake of its advantage of not being subject to linearity and Gaussianity constraints on the system model. Compared with the other SLAM approach, RBPF framework requires less demanding and its computation complex can be reduced. The experimental results are given to verify the effectiveness of the designed method.
Keywords :
Gaussian processes; SLAM (robots); computational complexity; laser ranging; mobile robots; particle filtering (numerical methods); path planning; Gaussianity constraint; RBPF-based map generation; SLAM approach; computation complexity; indoor mobile robot; laser range finder; linearity constraint; particle filter; system model; Buildings; Estimation; Lasers; Mobile robots; Particle filters; Simultaneous localization and mapping; LRF; RBPF; map generation; mobile robot;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
