NDLI: Set-membership based real-time terrain modeling of mobile robots with a laser scanner

Content Provider	IEEE Xplore Digital Library
Author	Zhou, B. Dai, X.Z.
Copyright Year	2010
Description	Author affiliation: Key Laboratory of Measurement and Control of CSE (School of Automation, Southeast University), Ministry of Education, Nanjing 210096, China (Zhou, B.; Dai, X.Z.)
Abstract	This paper presents a new set-membership based real-time terrain estimation algorithm to generate the elevation map of rough terrain by a mobile robot with a scanning laser in outdoor environments. Unlike conventional probabilistic algorithms, all underlying uncertainties are modeled as unknown-but-bounded noises without other assumptions, and the set-membership framework is then proposed to construct the set-valued elevation map with elevation variation in each cell bounded by intervals. The pose of the mobile robot is also estimated simultaneously by the set-membership filter and fused to the elevation map to modify the accuracy of the terrain model. Simulations and experimental results demonstrate the effectiveness and robustness of the proposed method.
Starting Page	440
Ending Page	445
File Size	274849
Page Count	6
File Format	PDF
ISBN	9781424451401
ISSN	2152744X
DOI	10.1109/ICMA.2010.5589112
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-04
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Estimation Uncertainty Robot sensing systems Three dimensional displays Robot kinematics Noise
Content Type	Text
Resource Type	Article

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