Environmental recognition for autonomous robot using Simultaneous Localization and Map Building (SLAM) (real time path planning with dynamical localized voronoi diyision)

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

Volumn 71, Issue 3, 2005, Pages 904-911

  Takezawa, Satoshi ^a   Gulrez, Tauseef ^b   Herath, Damith C ^b   Dissanayake, Gamini ^b  

^a HOKKAIDO INSTITUTE OF TECHNOLOGY   (Japan)

^b UNIVERSITY OF TECHNOLOGY SYDNEY   (Australia)

Author keywords

Autonomous Mobile Robot; Filter; Map Building; Nonlinear Control; SLAM

Indexed keywords

ALGORITHMS; MOTION PLANNING; NAVIGATION; PROBLEM SOLVING; STEREO VISION; UNCERTAIN SYSTEMS; WAVE FILTERS;

AUTONOMOUS MOBILE ROBOT; FILTERS; MAP BUILDING; NONLINEAR CONTROL; SLAM;

ROBOTS;

EID: 19944379191     PISSN: 03875024     EISSN: None     Source Type: Journal    
DOI: 10.1299/kikaic.71.904     Document Type: Article

References (20)

1. Dissanayake, G., Newman, P., Clark, S., Durrant-Whyte, H.F. and Csorba, M., A Solution to the Simultaneous Localization and Map Building (SLAM) Problem, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 17-3(2001), 229-241.
2. Scheding, S., Dissanayake, G., Nebot, E.M. and Durrant-White, H.F., An Experiment in Autonomous Navigation of an Underground Mining Vehicle, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 15-1(2001), 85-95.
3. Cassandra, A.R., Kaelbling, L.P. and Kurien, J.A., Acting under Uncertainty: Discrete Bayesian Models for Mobile-Robot Navigation, Proceedings of the IROS'96, (1996), 963-972.
4. Tsubouchi, T. and Yuta, S., Map Assisted Vision System of Mobile Robots for Reckoningin a Building Environment, Proceedings of the ICRA'87, (1987), 1978-1984.
5. Watanabe, Y. and Yuta, S., Position Estimation of Mobile Robot with Internal and External Sensors Using Uncertainty Evolution Technique, Proceedings of the ICRA'90, (1990), 2011-2016.
6. Thrun, S., Robotic Mapping: A Survey, CMU-CS-02-111, (2002-2).
7. Sou'eres, P., Fourquet, J.Y. and Laumond, J.P., Set of reachable positions for a car, IEEE Transactions on Automatic Control, 39-8(1994-8), 1626-1630.
8. Laumond, J.P., Jacobs, P., Tai'x, M. and Murray, R., A motion planner for nonholonomic mobile robots, IEEE Transactions on Robotics and Automation, 10-5(1994-10), 577-593.
9. Fleury, S., Sou'eres, P., Laumond, J.P. and Chatila, R., Primitives for smoothing mobile robot trajectories, IEEE International Conference on Robotics and Automation,(1993-5), 832-839.
10. Laumond, J.P. and Risler, J.J., Nonholonomic systems: controllability and complexity, Theoretical Computer Science, 157-1(1996-4), 101-114.
11. Sou'eres, P., and Laumond, J.P., Shortest paths synthesis for a car-like robot, IEEE Transactions on Automatic Control, 41-5(1996-5), 672-688.
12. Yuta. S., Experimental Research on the Autonomous Mobile Robot which navigate in the Real Environment, 2nd Int. Conf. Mechatronics and Machine Vision in Practice (MMVIP)'95, (1995-9), 59-66.
13. Ando, Y., Tsubouchi, T. and Yuta, S., A Reactive Wall Following Algorithm and Its Behavior of an Autonomous Mobile Robot with Sonar Ring, Jornal of Robotics and Mechatronics, 8-1(1996-2), 33-39.
14. Durrant-Whyte, H.F., Uncertain geometry in robotics, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 4-2(1988), 23-31.
15. Yoneda, T., Shirai, Y. and Miura, J., Navigation of a Vision-Guided Mobile Robot in an unknown Environment, Symposium on Flexible Automation, Proceedings 11, (1998), 569-572.
16. Montemerlo, M. and Thrun, S., Koller, D. and Wegbreit, B., FastSLAM: A factored solution to the simultaneous localization and mapping problem. In AAAI-2002, (2002)
17. Thrun, S., Burgard, W. and Fox, D., A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots, Machine Learning 31, 1-3(1998), 29-53.