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题名: Subjective exploration for simultaneous localization and mapping used in ruins
作者: Wang N(王楠); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Zhao MY(赵明扬)
作者部门: 机器人学研究室
会议名称: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期: June 8-12, 2015
会议地点: Shenyang, China
会议录: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 169-174
收录类别: EI ; CPCI(ISTP)
ISSN号: 2379-7711
ISBN号: 978-1-4799-8730-6
关键词: simultaneous localization and mapping (SLAM) ; ruins ; exploration ; mobile robot
摘要: According to the requirement of efficiency for rapid detection during the search and rescue in ruins, this paper proposes a subjective exploration strategy in the framework of simultaneous localization and mapping (SLAM). To balance the accuracy of SLAM algorithm and the efficiency of exploration, the problem of the subjective exploration of active SLAM is converted into an issue of multi-objective optimization. An objective function is presented to evaluate the uncertainties of estimation, the cost of movement and the gain of exploration. Furthermore, considering the uncertainty of estimation that is measured by the information entropy, an active constraint of loop closure is used for a backtracking correction of accumulated errors. Finally, the feasibility and validity of the proposed algorithm are verified by contrastive simulations and experiments.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380502300036
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17479
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Wang N,Ma SG,Li B,et al. Subjective exploration for simultaneous localization and mapping used in ruins[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.
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