[1]MA Jian,YU Yang.Landmark exploration strategy using estimated global localization error[J].CAAI Transactions on Intelligent Systems,2014,9(3):313-318.[doi:10.3969/j.issn.1673-4785.201310014]
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Landmark exploration strategy using estimated global localization error
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
9
Number of periods:
2014 3
Page number:
313-318
Column:
学术论文—智能系统
Public date:
2014-06-25
- Title:
- Landmark exploration strategy using estimated global localization error
- Keywords:
- SLAM; landmark discovery; Kalman filter; path planning; global error
- CLC:
- TP181
- DOI:
- 10.3969/j.issn.1673-4785.201310014
- Abstract:
- Exploration and estimation of landmarks in an unknown environment is an important skill for autonomous robots, most of which are based on the SLAM technique. This paper presents an SLAM based exploration strategy to minimize the global localization error, via greedily optimizing every step by Monte Carlo sampling. Due to the inertia of the SLAM method, we then penalize a large change of direction for a smoother trajectory, which may result in a more accurate estimation of landmarks. To further calibrate the estimation error for a large range of movement, the global localization information is introduced to the procedure of the estimation of the robot, since it depends less on the historical movement trajectory. Experiments verified the effectiveness of the proposed method.
- References:
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