A genetic solution for the SLAM problem

被引：0

作者：

Boada, BL ^{[1
]}

Blanco, D ^{[1
]}

Castejón, C ^{[1
]}

Moreno, L ^{[1
]}

机构：

[1] Univ Carlos III Madrid, Dept Mech, Madrid 28911, Spain

来源：

PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The proposed SLAM (Simultaneous Localization and Mapping) approach matchs local topo-geometric maps to generate a global topo-geometric map. The local topo-geoemtric map is obtained by Local Voronoi Diagrams (LVD) using measurements of a laser telemeter The information stored in local topo-geometric maps and the odometric readings are used to correct robot's positions. Our SLAM algorithm alternates two steps: a localization step and a mapping step. The localization algorithm also alternates two steps using Genetic Algorithms: a forward step and a backward step. The backward procedure is important to obtain good results in large and cyclic environments.

引用

页码：270 / 275

页数：6

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