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

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Conference Proceeding
Proceedings of INMIC 2004 8th International Multitopic Conference, 2004, pp. 712 - 716
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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 localizaiton and map building (SLAW) 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 demonstrated how key issues such as, map management and data association can be handled in a practical eivironment.
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