Title :
Map building for mobile robot based on distributed control technology
Author :
Jia, Songmin ; Wang, Ke ; Li, Xiuzhi ; Cui, Wei ; Fan, Jinhui ; Sheng, Jinbo
Author_Institution :
Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
Abstract :
In this paper, we presents an efficient Simultaneous Localization and Map-Building (SLAM) technique for indoor mobile robot navigation based on Laser Range Finder and Rao-Blackwellized Particle Filter (RBPF). Robot Technology Middleware (RTM) was used in the developed system. By using RTM, we can develop functional elements as “RT software components” that can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate. Based on RTM, we developed LRF data getting component, mobile robot control component, data buffer component, RBPF component, matching component, local map component and GUI component. This paper describes the architecture of the proposed system and gives some experimental results.
Keywords :
SLAM (robots); control engineering computing; laser ranging; middleware; mobile robots; particle filtering (numerical methods); path planning; robot vision; GUI component; LRF data getting component; RBPF component; Rao-Blackwellized particle filter; SLAM technique; data buffer component; distributed control technology; laser range finder; local map component; map building; matching component; mobile robot; mobile robot control component; operating system; programming languages; robot navigation; robot technology middleware; simultaneous localization and map building; Buildings; Graphical user interfaces; Middleware; Mobile robots; Simultaneous localization and mapping; Software; LRF; Map building; PF; RTM;
Conference_Titel :
Information and Automation (ICIA), 2011 IEEE International Conference on
Conference_Location :
Shenzhen
Print_ISBN :
978-1-4577-0268-6
Electronic_ISBN :
978-1-4577-0269-3
DOI :
10.1109/ICINFA.2011.5949002
