Active SLAM in structured environments

Publication Type:
Conference Proceeding
Proceedings - IEEE International Conference on Robotics and Automation, 2008, pp. 1898 - 1903
Issue Date:
Full metadata record
This paper considers the trajectory planning problem for line-feature based SLAM in structured indoor environments. The robot poses and line features are estimated using Smooth and Mapping (SAM) which is found to provide more consistent estimates than the Extended Kalman Filter (EKF). The objective of trajectory planning is to minimise the uncertainty of the estimates and to maximise coverage. Trajectory planning is performed using Model Predictive Control (MPC) with an attractor incorporating long term goals. This planning is demonstrated both in simulation and in a real-time experiment with a Pioneer2DX robot. ©2008 IEEE.
Please use this identifier to cite or link to this item: