| Autor: |
Pietro Muraca, Antonio Grano, Luigi D'Alfonso, Paolo Pugliese |
| Rok vydání: |
2013 |
| Předmět: |
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| Zdroj: |
ICAR |
| DOI: |
10.1109/icar.2013.6766462 |
| Popis: |
In this work the Simultaneous Localization And Mapping (SLAM) problem for a mobile robot placed in an unknown indoor environment is faced. The environment is modeled as a set of polynomials used as SLAM landmarks. A polynomial based mapping algorithm is proposed and used along with an Extended Kalman filter to yield a solution to the SLAM problem. The filter updates the robot position and orientation estimation and the environment mapping using sparse measurements taken from a set of on board ultrasonic sensors. The proposed algorithm has been evaluated in both numerical and experimental tests obtaining very good estimation and mapping results. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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