Navigation of an Autonomous Mobile Robot Using Data Association Method

Amir Monjazeb, Jurek Z. Sasiadek, Dan Necsulescu

Abstract

This paper presents an investigation on the performance of Unscented HybridSLAM using two different mapping strategies. The global map estimation using Unscented Kalman Filter is scrutinized for different scenarios, with and without the influence of a data association process. The accuracy of generated global map under different vehicle speed settings and with different process time is demonstrated using computer simulation. Results are discussed in terms of Root Mean Square (RMS) position error, orientation error, and time of navigation process. Results show that depending on the application, and on a desired speed, a compromise has to be done to get the best efficacy.

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Paper Citation


in Harvard Style

Monjazeb A., Z. Sasiadek J. and Necsulescu D. (2014). Navigation of an Autonomous Mobile Robot Using Data Association Method . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 304-311. DOI: 10.5220/0005059403040311


in Bibtex Style

@conference{icinco14,
author={Amir Monjazeb and Jurek Z. Sasiadek and Dan Necsulescu},
title={Navigation of an Autonomous Mobile Robot Using Data Association Method},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={304-311},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005059403040311},
isbn={978-989-758-039-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Navigation of an Autonomous Mobile Robot Using Data Association Method
SN - 978-989-758-039-0
AU - Monjazeb A.
AU - Z. Sasiadek J.
AU - Necsulescu D.
PY - 2014
SP - 304
EP - 311
DO - 10.5220/0005059403040311