Planning reliable paths with Pose SLAM
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Cita com:
hdl:2117/22926
Tipus de documentArticle
Data publicació2013
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
The maps that are built by standard feature-based simultaneous localization and mapping (SLAM) methods cannot be directly used to compute paths for navigation, unless enriched with obstacle or traversability information, with the consequent increase in complexity. Here, we propose a method that directly uses the Pose SLAM graph of constraints to determine the path between two robot configurations with lowest accumulated pose uncertainty, i.e., the most reliable path to the goal. The method shows improved navigation results when compared with standard path-planning strategies over both datasets and real-world experiments.
CitacióValencia, R. [et al.]. Planning reliable paths with Pose SLAM. "IEEE transactions on robotics", 2013, vol. 29, núm. 4, p. 1050-1059.
ISSN1552-3098
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1419-Planning-reliable-paths-with-Pose-SLAM.pdf | 1,683Mb | Visualitza/Obre |