A Two-Step Particle Filter for SLAM of Corridor Environment
The simultaneous localization and map building (SLAM) problem is critical to the research of mobile robot. Enabling robots to build the map of corridor environment is the basis for them to accomplish the tasks independently in the corridor environment. In this paper, the characteristic of the corridor environment is analyzed, the reason why it is hard to apply the general particle filter to solving the SLAM problem in the corridor environment is explored, and a novel two-step particle filter SLAM approach is presented. The experimental results demonstrate this approach can solve the correlation among states without the need of appending any artificial landmarks beforehand in the corridor environment in the process of SLAM.
mobile robot map building SLAM corridor particle filter
Yutong Zang Kui Yuan Wei Zou Huosheng Hu
Institute of Automation Chinese Academy of Sciences Beijing 100080, China Department of Computer Science University of Essex Colchester CO4 3SQ, United Kingdom
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
370-375
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）