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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)
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
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码169-174
收录类别EI ; CPCI(ISTP)
EI收录号20161402187854
WOS记录号WOS:000380502300036
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17479
专题机器人学研究室
作者单位1.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
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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.
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