DocumentCode
2034046
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
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
1666
Lastpage
1669
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060233
Link To Document