A Practical Exploration Approach Applied to Robot Simultaneous Localization and Map Building Process

Author

Zang, Yutong ; Yuan, Kui

Author_Institution

Inst. of Autom., Chinese Acad. of Sci., Beijing

Volume

2

fYear

0

fDate

0-0 0

Firstpage

8897

Lastpage

8901

Abstract

The mobile robot´s ability to explore the entire environment is one of the critical components of mapping an unknown environment. This becomes challenging when the mobile robot experiences positioning error and some sensor noises. In this paper, a novel approach called FRT is presented to solve this problem. Moreover, the multi-sensor information is fused using Dempster-Shafer theory to keep the FRT algorithm robust. In addition to developing this new algorithm, we validate our FRT approach experimentally in a corridor environment and the results demonstrate the performance of the approach

Keywords

inference mechanisms; mobile robots; sensor fusion; trees (mathematics); uncertainty handling; Dempster-Shafer theory; environment exploration; frontier tree; map building; mobile robot; multisensor information fusion; positioning error; robot simultaneous localization; scan matching; sensor noise; Charge coupled devices; Intelligent control; Mobile robots; Noise robustness; Robot sensing systems; Robotics and automation; Simultaneous localization and mapping; Sliding mode control; Working environment noise; DS reasoning; SLAM; exploration; map building; mobile robot; scan matching;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713720

Filename

1713720