Magnetic field-based SLAM method for solving the localization problem in mobile robot floor-cleaning task

IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

Volumn , Issue , 2011, Pages 198-203

  Vallivaara, Ilari ^a   Haverinen, Janne ^a   Kemppainen, Anssi ^a   Röning, Juha ^a  

^a UNIVERSITY OF OULU   (Finland)

Author keywords

[No Author keywords available]

Indexed keywords

COVERAGE PROBLEM; DOMESTIC ROBOTS; GAUSSIAN PROCESSES; LOCALIZATION PROBLEMS; MAGNETIC FIELD VARIATIONS; MAP QUALITY; MODERN BUILDINGS; RAO-BLACKWELLIZED PARTICLE FILTER;

CLEANING; FLOORS; MAGNETIC FIELDS; MOBILE ROBOTS; PROBLEM SOLVING;

ROBOTICS;

EID: 84255178339     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICAR.2011.6088632     Document Type: Conference Paper

References (24)

1. T. Palleja, M. Tresanchez, M. Teixido, and J. Palacin. Modeling floor-cleaning coverage performances of some domestic mobile robots in a reduced scenario. Robot. Auton. Syst., 58(1):37-45, 2010.
2. Douglas W. Gage. Randomized search strategies with imperfect sensors. In In Proceedings of SPIE Mobile Robots VIII, pages 270-279, 1993.
3. T. Balch. The case for randomized search. In Workshop on Sensors and Motion, IEEE International Conference on Robotics and Automation, San Francisco, CA, 2000.
4. Michael Montemerlo and Sebastian Thrun. FastSLAM: A Scalable Method for the Simultaneous Localization and Mapping Problem in Robotics (Springer Tracts in Advanced Robotics). Springer-Verlag New York, Inc., Secaucus, NJ, USA, 2007.
5. G. Grisetti, C. Stachniss, and W. Burgard. Improving grid-based slam with rao-blackwellized particle filters by adaptive proposals and selective resampling. pages 2443-2448, 2005.
6. Slawomir Grzonka, Christian Plagemann, Giorgio Grisetti, and Wolfram Burgard. Look-ahead proposals for robust grid-based slam with rao-blackwellized particle filters. Int. J. Rob. Res., 28(2):191-200, 2009.
7. Kristopher R. Beevers and Wesley H. Huang. Slam with sparse sensing. In In IEEE Intl. Conf. on Robotics and Automation, pages 2285-2290, 2006.
8. B. Tribelhorn and Z. Dodds. Evaluating the roomba: A low-cost, ubiquitous platform for robotics research and education. In Robotics and Automation, 2007 IEEE International Conference on, pages 1393-1399, Roma.
9. Lawrence Erickson, Joseph Knuth, Jason M. O'Kane, and Steven M. LaValle. Probabilistic localization with a blind robot. In Proc. IEEE International Conference on Robotics and Automation, 2008.
10. Rickard Karlsson,, Rickard Karlsson, and Fredrik Gustafsson. Particle filter for underwater terrain navigation. In 2003 IEEE Workshop on Statistical Signal Processing, 2003.
11. Hao Lu, Jiyin Zhao, Xiaomeng Li, and Jianpo Li. A new method of double electric compass for localization. In Proceedings of the 6th world congress on intelligent control and automation, 2007.
12. Ho-Duck Kim, Sang-Wook Seo, In hun Jang, and Kwee-Bo Sim. SLAM of mobile robot in the indoor environment with digital magnetic compass and ultrasonic sensors. In Control, Automation and Systems, 2007. ICCAS '07. International Conference on, pages 87-90, Seoul, 2007.
13. Slawomir Grzonka, Frederic Dijoux, Andreas Karwath, and Wolfram Burgard. Mapping indoor environments based on human activity. In Proc. IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, 2010.
14. S. Suksakulchai, S. Thongchai, D. M. Wilkes, and K. Kawamura. Mobile robot localization using an electronic compass for corridor environment. In In Proceedings 2000 IEEE International Conference on Systems Man and Cybernetics, pages 8-11, 2000.
15. Janne Haverinen and Anssi Kemppainen. Global indoor selflocalization based on the ambient magnetic field. Robot. Auton. Syst., 57(10):1028-1035, 2009.
16. Vallivaara Ilari, Haverinen Janne, Kemppainen Anssi, and Röning Juha. Simultaneous localization and mapping using ambient magnetic field. In 2010 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pages 14-19, Salt Lake City, Utah, USA, 2010. IEEE.
17. Haiyang Zhang and F Martin. Robotic mapping assisted by local magnetic field anomalies. In Technologies for Practical Robot Applications (TePRA), 2011 IEEE Conference on, pages 25-30, april 2011.
18. Howie Choset. Coverage for robotics - a survey of recent results. Annals of Mathematics and Artificial Intelligence, 31:113-126, 2001. 10.1023/A:1016639210559.
19. Carl Edward Rasmussen and Christopher K. I. Williams. Gaussian Processes for Machine Learning (Adaptive Computation and Machine Learning). The MIT Press, 2005.
20. N. Sukumar, B. Moran, A. Yu Semenov, and V. V. Belikov. Natural neighbor galerkin methods. International Journal for Numerical Methods in Engineering, 50:1-27, 2001.
21. Sebastian Thrun, Wolfram Burgard, and Dieter Fox. Probabilistic Robotics (Intelligent Robotics and Autonomous Agents). The MIT Press, 2005.
22. E. Garcia and P. Gonzalez De Santos. Mobile-robot navigation with complete coverage of unstructured environment. Robotics and Autonomous Systems, 46:195-204, 2004.
23. Cyrill Stachniss, Dirk Hähnel, Wolfram Burgard, and Giorgio Grisetti. On actively closing loops in grid-based fastslam. Advanced Robotics, 19:2005, 2005.
24. Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard. Information gain-based exploration using rao-blackwellized particle filters. In In RSS, pages 65-72, 2005.