NDLI: Gray-dynamic EKF for mobile robot SLAM in indoor environment

Content Provider	IEEE Xplore Digital Library
Author	Peng Wang Qibin Zhang Zonghai Chen
Copyright Year	2013
Description	Author affiliation: Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China (Peng Wang; Qibin Zhang; Zonghai Chen)
Abstract	The Gray-dynamic EKF (GEKF) algorithm is proposed to estimate the states of a mobile robot in an indoor environment. First, the gray prediction theory is adopted to predict the states of a mobile robot and the feature positions in the environment; next, based on the predictions, a mobile robot system model is built dynamically; then, the GEKF is used to estimate the mobile robot states and the feature positions. Experimental results show that the GEKF can achieve almost the same estimation accuracy with EKF, while without the need of a fixed system model. To improve the head direction estimation accuracy of the mobile robot, a head direction match algorithm is proposed, and relatively better results are shown by experiments.
Starting Page	43
Ending Page	48
File Size	207526
Page Count	6
File Format	PDF
ISBN	9781479911981
ISSN	21582181
e-ISBN	9781479912018
DOI	10.1109/RAM.2013.6758557
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-12
Publisher Place	Philippines
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Mathematical model Predictive models Simultaneous localization and mapping Estimation state estimation gray-dynamic EKF indoor environment mobile robot
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in