A laser scanner based mobile robot SLAM algorithm with improved convergence properties

被引：0
|
作者：
Lionis, GS [1 ]
Kyriakopoulos, KJ [1 ]
机构：
[1] Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, GR-10682 Athens, Greece
来源：
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We have developed a laser scanner based simultaneous localization and map building method, specifically addressing the divergence problem of the classical Extended Kalman Filters (EKF) based Simultaneous Localization and Map Building (SLAM) algorithms. Our method utilizes two EKFs. The fist is used to estimate the orientations of the AM and the obstacles, and the second estimates the positions of the MR and of the obstacles. Experimental results are also presented to verify our arguments.
引用
收藏
页码：582 / 587
页数：6
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