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Authors: Amir Monjazeb 1 ; Jurek Z. Sasiadek 1 and Dan Necsulescu 2

Affiliations: 1 Carleton University, Canada ; 2 Ottawa University, Canada

ISBN: 978-989-8565-71-6

Keyword(s): Simultaneous Localization And Mapping (SLAM) Problem, EKF, FastSLAM, HybridSLAM, Unscented HybridSLAM, Cluttered Environment, Double Loop Closing, Absolute Error.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronics Systems ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper addresses the linearization process of an autonomous mobile robot utilizing the second order Sterling polynomial interpolation specifically used for Unscented HybridSLAM algorithm. It describes the implementation of the linearization method to estimate the posterior mean and covariance of the system. The major interest is to apply linearized equations for a simultaneous localization and mapping case in a non-domestic environment with a random distribution of landmarks. Using computer simulations, Unscented HybridSLAM and the associated theoretical interpolation is examined for a double-loop scenario and the efficacy of the Unscented HybridSLAM is validated.

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Paper citation in several formats:
Monjazeb, A.; Z. Sasiadek, J. and Necsulescu, D. (2013). Some Aspects of Autonomous Robot Navigation with Unscented HybridSLAM.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-71-6, pages 66-73. DOI: 10.5220/0004452700660073

@conference{icinco13,
author={Amir Monjazeb. and Jurek Z. Sasiadek. and Dan Necsulescu.},
title={Some Aspects of Autonomous Robot Navigation with Unscented HybridSLAM},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={66-73},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004452700660073},
isbn={978-989-8565-71-6},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Some Aspects of Autonomous Robot Navigation with Unscented HybridSLAM
SN - 978-989-8565-71-6
AU - Monjazeb, A.
AU - Z. Sasiadek, J.
AU - Necsulescu, D.
PY - 2013
SP - 66
EP - 73
DO - 10.5220/0004452700660073

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