Simultaneous localization and map building of skid-steered robots

Anousaki, GC; Kyriakopoulos, KJ

dc.contributor.author	Anousaki, GC	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:27:15Z
dc.date.available	2014-03-01T01:27:15Z
dc.date.issued	2007	en
dc.identifier.issn	10709932	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18363
dc.subject	Localization	en
dc.subject	Map matching	en
dc.subject	Map-building	en
dc.subject	Sensor fusion	en
dc.subject	Skid-steered vehicles	en
dc.subject.other	Error analysis	en
dc.subject.other	Global positioning system	en
dc.subject.other	Kalman filters	en
dc.subject.other	Maps	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion planning	en
dc.subject.other	Robotics	en
dc.subject.other	Localization	en
dc.subject.other	Map-building	en
dc.subject.other	Simultaneous localization and map-building (SLAM)	en
dc.subject.other	Skid-steered vehicles	en
dc.subject.other	Industrial robots	en
dc.title	Simultaneous localization and map building of skid-steered robots	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/MRA.2007.339625	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MRA.2007.339625	en
heal.publicationDate	2007	en
heal.abstract	In the simultaneous localization and map-building (SLAM) problem, the number of states to be estimated is proportional to the number of objects included in the estimated map plus the states of the robot pose. The known approach of Kalman filter offers an optimal linear recursive solution to the SLAM problem when conditions such as perfect data association, linear motion model, linear measurement expressions and Gaussian error model are in place. However, every update/observation has a computational cost of n3. To reduce this cost, a suboptimal Kalman-based approach based on the covariance intersection filter is proposed. This approach is intended to be used during the medium-term intervals, where global positioning system (GPS) readings are not meaningful or unavailable, to provide high accuracy estimates for both localization and map-building, that assures the safe movement of an autonomous vehicle of skid-steering type, in outdoor semi-structured environments.	en
heal.journalName	IEEE Robotics and Automation Magazine	en
dc.identifier.doi	10.1109/MRA.2007.339625	en
dc.identifier.volume	14	en
dc.identifier.issue	1	en
dc.identifier.spage	79	en
dc.identifier.epage	89	en