A new state vector for range-only SLAM

Ahmad, A; Huang, S; Wang, JJ; Dissanayake, G

A new state vector for range-only SLAM

Ahmad, A Huang, S

Wang, JJ

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011, 2011, pp. 3404 - 3409
Issue Date:: 2011-09-05

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Field	Value	Language
dc.contributor.author	Ahmad, A	en_US
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.contributor.author	Wang, JJ https://orcid.org/0000-0002-6282-0456	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2011-09-05	en_US
dc.identifier.citation	Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011, 2011, pp. 3404 - 3409	en_US
dc.identifier.isbn	9781424487363	en_US
dc.identifier.uri	http://hdl.handle.net/10453/29600
dc.description.abstract	This paper considers the simultaneous localization and mapping (SLAM) problem where the range-only sensor is used. Landmark initialization is a critical issue in range-only SLAM due to the lack of bearing information from the robot to the landmarks. A new state vector is proposed to be used in solving the range-only SLAM. In the new state vector, the landmark position is represented in different ways under different situations. This new representation avoids the need of multiple hypotheses on the landmark positions implemented in most of the existing range-only SLAM algorithms. Simulation and experimental results demonstrate the effectiveness of the new range-only SLAM algorithm using the new state vector within the least squares framework. © 2011 IEEE.	en_US
dc.relation.ispartof	Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011	en_US
dc.relation.isbasedon	10.1109/CCDC.2011.5968704	en_US
dc.title	A new state vector for range-only SLAM	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Mianyang, Sichuan, China	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 Civil and Environmental Engineering
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
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper considers the simultaneous localization and mapping (SLAM) problem where the range-only sensor is used. Landmark initialization is a critical issue in range-only SLAM due to the lack of bearing information from the robot to the landmarks. A new state vector is proposed to be used in solving the range-only SLAM. In the new state vector, the landmark position is represented in different ways under different situations. This new representation avoids the need of multiple hypotheses on the landmark positions implemented in most of the existing range-only SLAM algorithms. Simulation and experimental results demonstrate the effectiveness of the new range-only SLAM algorithm using the new state vector within the least squares framework. © 2011 IEEE.

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http://hdl.handle.net/10453/29600