SIA OpenIR  > 机器人学研究室
Subjective exploration for simultaneous localization and mapping used in ruins
Wang N(王楠); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Zhao MY(赵明扬)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages169-174
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187854
WOS IDWOS:000380502300036
Contribution Rank1
ISSN2379-7711
ISBN978-1-4799-8730-6
KeywordSimultaneous Localization And Mapping (Slam) Ruins Exploration Mobile Robot
AbstractAccording 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17479
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Robotics, Faculty of Science and Technology, Ritsumeikan University, Kusatsu-Shi, Japan
Recommended Citation
GB/T 7714
Wang N,Ma SG,Li B,et al. Subjective exploration for simultaneous localization and mapping used in ruins[C]. Piscataway, NJ, USA:IEEE,2015:169-174.
Files in This Item: Download All
File Name/Size DocType Version Access License
Subjective explorati(657KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wang N(王楠)]'s Articles
[Ma SG(马书根)]'s Articles
[Li B(李斌)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wang N(王楠)]'s Articles
[Ma SG(马书根)]'s Articles
[Li B(李斌)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wang N(王楠)]'s Articles
[Ma SG(马书根)]'s Articles
[Li B(李斌)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Subjective exploration for simultaneous localization and mapping used in ruins.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.