SLAM and map merging
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http://hdl.handle.net/10045/12576
Título: | SLAM and map merging |
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Autor/es: | León García, Ángel | Barea Navarro, Rafael | Bergasa Pascual, Luis Miguel | López Guillén, Elena | Ocaña Miguel, Manuel | Schleicher Gómez, David |
Palabras clave: | Multi-robot SLAM | Scan-matching | Fast-slam | Rao-blackwellised particle filter |
Área/s de conocimiento: | Ciencia de la Computación e Inteligencia Artificial |
Fecha de publicación: | ene-2009 |
Editor: | Red de Agentes Físicos |
Cita bibliográfica: | LEÓN GARCÍA, Ángel, et al. “SLAM and map merging”. Journal of Physical Agents. Vol. 3, No. 1 (Jan. 2009). ISSN 1888-0258, pp. 13-23 |
Resumen: | This paper presents a multi-robot mapping and localization system. Learning maps and efficient exploration of an unknown environment is a fundamental problem in mobile robotics usually called SLAM (simultaneous localization and mapping problem). Our approach involves a team of mobile robots that uses Scan-Matching and Fast-SLAM techniques based on scan-laser and odometry information for mapping large environments. The single maps generated for each robot are more accurate than the maps generated only by odometry. When a robot detects another, it sends its processed map and the master robot generates a very accurate global map. This method cuts down the global map building time. Some experimental results and conclusions are presented. |
Patrocinador/es: | Comunidad de Madrid and the University of Alcalá, support through the projects RoboCity2030 (CAM-S-0505/DPI/000176) and SLAM-MULEX (CCG07-UAH/DPI-1736). |
URI: | http://hdl.handle.net/10045/12576 | http://dx.doi.org/10.14198/JoPha.2009.3.1.03 |
ISSN: | 1888-0258 |
DOI: | 10.14198/JoPha.2009.3.1.03 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Revisión científica: | si |
Aparece en las colecciones: | Journal of Physical Agents - 2009, Vol. 3, No. 1 |
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JoPha_3_1_03.pdf | 1,08 MB | Adobe PDF | Abrir Vista previa | |
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