Mobile robot geometric-topological map building and self-localization

Kongzhi yu Juece/Control and Decision

Volumn 20, Issue 7, 2005, Pages

  Zhuang, Yan ^a,b   Xu, Xiao Dong ^a,b   Wang, Wei ^a  

^a DALIAN UNIVERSITY OF TECHNOLOGY   (China)

^b SHENYANG INSTITUTE OF AUTOMATION   (China)

Author keywords

Autonomous mobile robots; Extended Kalman filter; Geometric topological map building; Self localization

Indexed keywords

AUTONOMOUS AGENTS; COLLISION AVOIDANCE; KALMAN FILTERING; MAPPING; TOPOLOGY; TRACKING (POSITION);

GEOMETRIC-TOPOLOGICAL MAP BUILDING; POSE TRACKING; SELF LOCALIZATION;

MOBILE ROBOTS;

EID: 23744448449     PISSN: 10010920     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (5)

1. Arras K O, Tomatis N, Jensen B, et al. Multisensor on-the-fly Localization: Precision and Reliability for Applications [J]. Robotics and Autonomous System, 2001, 34(2-3): 131-143.
2. Jensfelt P, Christensen H I. Pose Tracking Using Laser Scanning and Minimalistic Environmental Models [J]. IEEE Trans on Robotics and Automation, 2001, 17(2): 138-147.
3. Tomatis N, Nourbakhsh I, Siegwart R. Hybrid Simultaneous Localization and Map Building: A Natural Integration of Topological and Metric [J]. Robotics and Autonomous Systems, 2003, 44(1): 3-14.
4. Zhuang Y, Wang W, Liu L, et al. Mobile Robot Indoor Map Building and Pose Tracking Using Laser Scanning [A]. Proc of Int Conf on Intelligent Mechatronics and Automation [C]. Chengdu, 2004: 656-661.
5. Tomatis N, Nourbakhsh I, Siegwart R. A Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling [A]. Proc of the 2001 IEEE Int Conf on Robotics and Automation[C]. Seoul, 2001: 1111-1116.