Simultaneous localization and map building for mobile robot navigation

Anousaki, GC; Kyriakopoulos, KJ

dc.contributor.author	Anousaki, GC	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:15:12Z
dc.date.available	2014-03-01T01:15:12Z
dc.date.issued	1999	en
dc.identifier.issn	1070-9932	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/13374
dc.subject	mobile robots	en
dc.subject	navigation	en
dc.subject	ultrasonic	en
dc.subject	localization	en
dc.subject	map building	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Robotics	en
dc.subject.other	Algorithms	en
dc.subject.other	Charge coupled devices	en
dc.subject.other	Computer vision	en
dc.subject.other	Feature extraction	en
dc.subject.other	Image segmentation	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion control	en
dc.subject.other	Motion planning	en
dc.subject.other	Position control	en
dc.subject.other	Probability distributions	en
dc.subject.other	Robotics	en
dc.subject.other	Sensor data fusion	en
dc.subject.other	Histogramic in-motion mapping (HIMM)	en
dc.subject.other	Map-building algorithms	en
dc.subject.other	Odometric sensors	en
dc.subject.other	Mobile robots	en
dc.title	Simultaneous localization and map building for mobile robot navigation	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/100.793699	en
heal.identifier.secondary	http://dx.doi.org/10.1109/100.793699	en
heal.language	English	en
heal.publicationDate	1999	en
heal.abstract	A reliable scheme that deals with the map-building and the localization issues simultaneously is presented. The world-model estimate is fed to the localization algorithm, which in turn provides a corrected position and orientation estimate that is subsequently fed to the map-building algorithm to provide an updated world model. The perceived local world model along with dead-reckoning and ultrasonic sensor data are combined using an extended Kalman filter in a localization scheme to estimate the current position and orientation of the mobile robot. Implementation issues and experimental results from the experience with a Nomad 150 mobile robot in a real world indoor environment are presented.	en
heal.publisher	IEEE, Piscataway, NJ, United States	en
heal.journalName	IEEE Robotics and Automation Magazine	en
dc.identifier.doi	10.1109/100.793699	en
dc.identifier.isi	ISI:000082813000008	en
dc.identifier.volume	6	en
dc.identifier.issue	3	en
dc.identifier.spage	42	en
dc.identifier.epage	53	en