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ICRA
2008
IEEE

Active SLAM in structured environments

8 years 8 months ago
Active SLAM in structured environments
— This paper considers the trajectory planning problem for line-feature based SLAM in structured indoor environments. The robot poses and line features are estimated using Smooth and Mapping (SAM) which is found to provide more consistent estimates than the Extended Kalman Filter (EKF). The objective of trajectory planning is to minimise the uncertainty of the estimates and to maximise coverage. Trajectory planning is performed using Model Predictive Control (MPC) with an attractor incorporating long term goals. This planning is demonstrated both in simulation and in a real-time experiment with a Pioneer2DX robot.
Cindy Leung, Shoudong Huang, Gamini Dissanayake
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Cindy Leung, Shoudong Huang, Gamini Dissanayake
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