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

Tauseef Gulrez, Rami Al-Hmouz, Zenon Chaczko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of INMIC 2004 - 8th International Multitopic Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages712-716
Number of pages5
ISBN (Electronic)0780386809, 9780780386808
DOIs
Publication statusPublished - 2004
Externally publishedYes
Event8th International Multitopic Conference, INMIC 2004 - Lahore, Pakistan
Duration: Dec 24 2004Dec 26 2004

Publication series

NameProceedings of INMIC 2004 - 8th International Multitopic Conference

Other

Other8th International Multitopic Conference, INMIC 2004
Country/TerritoryPakistan
CityLahore
Period12/24/0412/26/04

Keywords

  • Autonomously
  • SLAM and player/stage

ASJC Scopus subject areas

  • Engineering(all)
  • Computer Science(all)

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