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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Songmin Jia Ke Wang Xiuzhi Li Wei Cui Jinhui Fan Jinbo Sheng |
| Copyright Year | 2011 |
| Description | Author affiliation: Hitachi, Ltd, Tokyo, Japan (Jinbo Sheng) || College of Electronic Information & Control Engineering, Beijing University of Technology, China (Songmin Jia; Ke Wang; Xiuzhi Li; Wei Cui; Jinhui Fan) |
| Abstract | In this paper, we presents an efficient Simultaneous Localization and Map-Building (SLAM) technique for indoor mobile robot navigation based on Laser Range Finder and Rao-Blackwellized Particle Filter (RBPF). Robot Technology Middleware (RTM) was used in the developed system. By using RTM, we can develop functional elements as “RT software components” that can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate. Based on RTM, we developed LRF data getting component, mobile robot control component, data buffer component, RBPF component, matching component, local map component and GUI component. This paper describes the architecture of the proposed system and gives some experimental results. |
| Starting Page | 279 |
| Ending Page | 284 |
| File Size | 1011114 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781457702686 |
| e-ISBN | 9781457702709 |
| e-ISBN | 9781457702693 |
| DOI | 10.1109/ICINFA.2011.5949002 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-06-06 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | LRF Simultaneous localization and mapping Buildings PF Map building Software RTM Mobile robots Middleware Graphical user interfaces |
| Content Type | Text |
| Resource Type | Article |
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