Experimental analysis of adaptive concurrent mapping and localization using sonar

Autor:	Hans Jacob S. Feder, John J. Leonard
Rok vydání:	2008
Předmět:	Engineering business.industry Mobile robot Sonar Extended Kalman filter Obstacle avoidance Metre Robot Computer vision Artificial intelligence Underwater business Sensing system Simulation
Zdroj:	Experimental Robotics VI ISBN: 9781852332105 ISER
DOI:	10.1007/bfb0119408
Popis:	This paper describes the experimental verification a method for performing concurrent mapping and localization (CML) adaptively using sonar. Predicted sensor readings and expected dead-reckoning errors are used to evaluate different potential actions of the robot. The action that yields the maximum information is selected. The performance of this approach to CML is investigated via experiments with a dynamic underwater sonar sensing system in a 9 meter by 3 meter by 1 meter testing tank. Increased navigation and mapping accuracy are demonstrated in comparison to results obtained with non-adaptive sensor motion.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::13068016e07496f7c16bff024659b9a1 https://doi.org/10.1007/bfb0119408 Zobrazit plný text záznamu