Title :
A laser scanner based mobile robot SLAM algorithm with improved convergence properties
Author :
Lionis, G.S. ; Kyriakopoulos, K.J.
Author_Institution :
Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Greece
Abstract :
We have developed a laser scanner based simultaneous localization and map building method, specifically addressing the divergence problem of the classical extended Kalman filters (EKF) based simultaneous localization and map building (SLAM) algorithms. Our method utilizes two EKFs. The first is used to estimate the orientations of the robot and the obstacles, and the second estimates the positions of the robot and of the obstacles. Experimental results are also presented to verify our arguments.
Keywords :
Kalman filters; attitude measurement; computerised navigation; convergence; filtering theory; mobile robots; optical scanners; position measurement; EKF; convergence properties; divergence problem; extended Kalman filters; laser scanner based mobile robot SLAM algorithm; localization; map building; obstacles; orientation estimation; Control systems; Convergence; Feature extraction; Mechanical factors; Mobile robots; Orbital robotics; Robot sensing systems; Shape; Simultaneous localization and mapping; Sonar;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041453
