Near minimum time path planning for bearing-only localisation and mapping

Fang, G; Dissanayake, G; Kwok, NM; Huang, S

Near minimum time path planning for bearing-only localisation and mapping

Fang, G Dissanayake, G

Kwok, NM Huang, S

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Publication Type:: Conference Proceeding
Citation:: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, pp. 2763 - 2768
Issue Date:: 2005-12-01

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Field	Value	Language
dc.contributor.author	Fang, G	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.contributor.author	Kwok, NM	en_US
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.date.issued	2005-12-01	en_US
dc.identifier.citation	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, pp. 2763 - 2768	en_US
dc.identifier.isbn	0780389123	en_US
dc.identifier.isbn	9780780389120	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2546
dc.description.abstract	The main contribution of this paper is an algorithm for integrating motion planning and simultaneous localisation and mapping (SLAM). Accuracy of the maps and the robot locations computed using SLAM is strongly dependent on the characteristics of the environment, for example feature density, as well as the speed and direction of motion of the robot. Appropriate control of the robot motion is particularly important in bearing-only SLAM, where the information from a moving sensor is essential. In this paper a near minimum time path planning algorithm with a finite planning horizon is proposed for bearing-only SLAM. The objective of the algorithm is to achieve a predefined mapping precision while maintaining acceptable vehicle location uncertainty in the minimum time. Simulation results have shown the effectiveness of the proposed method. © 2005 IEEE.	en_US
dc.relation.ispartof	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS	en_US
dc.relation.isbasedon	10.1109/IROS.2005.1545394	en_US
dc.title	Near minimum time path planning for bearing-only localisation and mapping	en_US
dc.type	Conference Proceeding
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Edmonton, Canada	en_US
dc.location.activity	Algarve, Portugal
dc.location.activity	Edmonton, CANADA
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 Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

The main contribution of this paper is an algorithm for integrating motion planning and simultaneous localisation and mapping (SLAM). Accuracy of the maps and the robot locations computed using SLAM is strongly dependent on the characteristics of the environment, for example feature density, as well as the speed and direction of motion of the robot. Appropriate control of the robot motion is particularly important in bearing-only SLAM, where the information from a moving sensor is essential. In this paper a near minimum time path planning algorithm with a finite planning horizon is proposed for bearing-only SLAM. The objective of the algorithm is to achieve a predefined mapping precision while maintaining acceptable vehicle location uncertainty in the minimum time. Simulation results have shown the effectiveness of the proposed method. © 2005 IEEE.

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