Title :
Adaptive concurrent mapping and localization using sonar
Author :
Feder, Hans Jacob S ; Leonard, John J. ; Smith, Chris M.
Author_Institution :
Dept. of Ocean Eng., MIT, Cambridge, MA, USA
Abstract :
In order to create a truly autonomous vehicle, the task of concurrent mapping and localization (CML) in an a priori unknown environment is an important problem. Traditionally, the task of CML has been separated from the vehicle´s motion and sensing strategies. We introduce a method for adaptive concurrent mapping and localization in unknown environments using a scanning sonar sensor. This method maximizes the information gained by the next action of the robot, given the space of available actions. The viability of the approach is shown in simulation and experiments. Results are shown for both adaptive control of motion and adaptive control of motion and sensing. Improved performance is demonstrated in comparison to straight-line motion and random motion
Keywords :
adaptive control; adaptive signal processing; mobile robots; navigation; sonar signal processing; underwater vehicles; AUV; CML; adaptive concurrent localization; adaptive concurrent mapping; autonomous underwater vehicles; autonomous vehicle; random motion; scanning sonar sensor; sonar; straight-line motion; unknown environments; Acoustic sensors; Adaptive control; Mobile robots; Remotely operated vehicles; Robot sensing systems; Sonar applications; Sonar navigation; Stochastic processes; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727313