NDLI: G-SLAM: A novel SLAM method

Content Provider	IEEE Xplore Digital Library
Author	Zikos, N. Petridis, V.
Copyright Year	2012
Description	Author affiliation: Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, School of Engineering, Greece (Zikos, N.; Petridis, V.)
Abstract	Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is proposed, where the map is considered as a set of scattered points in the continuous space followed by a probability that states the existence of an obstacle in the subsequent point in space. A probabilistic approach with particle filters for the robot's pose estimation and an adaptive recursive algorithm for the map's probability distribution estimation is presented. Key feature of the G-SLAM method is the adaptive repositioning of the scattered points and their convergence around obstacles. In this paper the goal is to estimate the best robot trajectory along with the probability distribution of the obstacles in space. For experimental purposes a four wheel rear drive car kinematic model is used and results derived from real case scenarios are discussed.
Starting Page	530
Ending Page	535
File Size	523363
Page Count	6
File Format	PDF
ISBN	9781467325301
e-ISBN	9781467325318
e-ISBN	9781467325295
DOI	10.1109/MED.2012.6265692
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-03
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Robot kinematics Estimation Probabilistic logic Probability distribution Mathematical model
Content Type	Text
Resource Type	Article

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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
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