Unmanned autonomous vehicle control and SLAM problem in 2-D environment

Tauseef Gulrez, Rami Al-Hmouz, Zenon Chaczko

نتاج البحث

1 اقتباس (Scopus)

ملخص

This paper proposes a method of selecting (autonomously) the artificial landmarks by Laser measurement, to establish the 2D obstacle map. Due to the error in the motion and measurement of the robot, the observed landmarks positions include the uncertainty. In this paper, we discuss the simultaneous laser type localization and map building (SLAM) problems. SLAM problem asks, is it possible for an autonomous vehicle to start in an unknown location in an unknown environment and then incrementally builds a map of this environment, while simultaneously using the map to compute the absolute vehicle location. From the results, we proved that a solution to the SLAM problem is indeed possible for 2D obstacle map. This implementation was made on Real time Player/Stage Robotics Software as well as the Matlab results were obtained, also we demonstrate how key issues such as, map management and data association can be handled in a practical environment.

اللغة الأصليةEnglish
عنوان منشور المضيفProceedings of INMIC 2004 - 8th International Multitopic Conference
ناشرInstitute of Electrical and Electronics Engineers Inc.
الصفحات712-716
عدد الصفحات5
رقم المعيار الدولي للكتب (الإلكتروني)0780386809, 9780780386808
المعرِّفات الرقمية للأشياء
حالة النشرPublished - 2004
الحدث8th International Multitopic Conference, INMIC 2004 - Lahore
المدة: ديسمبر ٢٤ ٢٠٠٤ديسمبر ٢٦ ٢٠٠٤

سلسلة المنشورات

الاسمProceedings of INMIC 2004 - 8th International Multitopic Conference

Other

Other8th International Multitopic Conference, INMIC 2004
الدولة/الإقليمPakistan
المدينةLahore
المدة١٢/٢٤/٠٤١٢/٢٦/٠٤

ASJC Scopus subject areas

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