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

Gulrez, T; Al-Hmouz, R; Chaczko, Z

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

Gulrez, T Al-Hmouz, R Chaczko, Z

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Publication Type:: Conference Proceeding
Citation:: Proceedings of INMIC 2004 - 8th International Multitopic Conference, 2004, pp. 712 - 716
Issue Date:: 2004-01-01

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Field	Value	Language
dc.contributor.author	Gulrez, T	en_US
dc.contributor.author	Al-Hmouz, R	en_US
dc.contributor.author	Chaczko, Z https://orcid.org/0000-0002-2816-7510	en_US
dc.date.issued	2004-01-01	en_US
dc.identifier.citation	Proceedings of INMIC 2004 - 8th International Multitopic Conference, 2004, pp. 712 - 716	en_US
dc.identifier.isbn	0780386809	en_US
dc.identifier.isbn	9780780386808	en_US
dc.identifier.uri	http://hdl.handle.net/10453/12015
dc.description.abstract	© 2004 IEEE. 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.	en_US
dc.relation.ispartof	Proceedings of INMIC 2004 - 8th International Multitopic Conference	en_US
dc.relation.isbasedon	10.1109/INMIC.2004.1492983	en_US
dc.title	Unmanned autonomous vehicle control and SLAM problem in 2-D environment	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
dc.location.activity	Lahore, Pakistan	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - GBDTC - Global Big Data Technologies
pubs.organisational-group	/University of Technology Sydney/Strength - INEXT - Innovation in IT Services and Applications
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

© 2004 IEEE. 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.

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http://hdl.handle.net/10453/12015