TY - GEN
T1 - Unmanned autonomous vehicle control and SLAM problem in 2-D environment
AU - Gulrez, Tauseef
AU - Al-Hmouz, Rami
AU - Chaczko, Zenon
N1 - Publisher Copyright:
© 2004 IEEE.
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
KW - Autonomously
KW - SLAM and player/stage
UR - http://www.scopus.com/inward/record.url?scp=84928035304&partnerID=8YFLogxK
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U2 - 10.1109/INMIC.2004.1492983
DO - 10.1109/INMIC.2004.1492983
M3 - Conference contribution
AN - SCOPUS:84928035304
T3 - Proceedings of INMIC 2004 - 8th International Multitopic Conference
SP - 712
EP - 716
BT - Proceedings of INMIC 2004 - 8th International Multitopic Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Multitopic Conference, INMIC 2004
Y2 - 24 December 2004 through 26 December 2004
ER -