NDLI: A Topological SPLAM Approach for Robust Exploration

Content Provider	IEEE Xplore Digital Library
Author	Toriz Palacios, A. Sanchez Lopez, A.
Copyright Year	2014
Description	Author affiliation: Comput. Sci. Dept., Benemerita Univ. Autonoma de Puebla, Puebla, Mexico (Sanchez Lopez, A.) \|\| Univ. Popular Autonoma del Estado de Puebla Pue-Mexico, Mexico (Toriz Palacios, A.)
Abstract	This paper describes a simultaneous planning localization and mapping (SPLAM) approach, where a mobile robot explores the environment efficiently and also considers the requisites of the simultaneous localization and mapping algorithm. The method is based on the randomized incremental generation of a data structure called the Random Exploration Graph (REG), which represents a roadmap of the explored area with an associated safe region. The REG approach includes a frontier control to carry a registry over the nodes that have not been fully explored. A continuous localization procedure based on B-Splines features of the safe region is integrated in the scheme. Simulations and experiments on the Pioneer P3DX robot show the performance of this approach.
Starting Page	203
Ending Page	208
File Size	326918
Page Count	6
File Format	PDF
ISBN	9781467370103
e-ISBN	9781479999002
DOI	10.1109/MICAI.2014.37
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-11-16
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping SLAM Estimation B-Splines Planning path planning complex environments Mathematical model Splines (mathematics)
Content Type	Text
Resource Type	Article

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