Hierarchical Simultaneous Localization and Mapping Based on Discrete Event Systems
In order to make the simultaneous localization and mapping (SLAM) algorithm universal, a novel hierarchical approach, which realizes both macro and micro localization and mapping for a kind of large environments is proposed. The map is a two-layer architecture which the upper layer is an automaton and the lower layer is a set of featurebased maps. The exploring strategy for unknown space was embodied in the system. Its described by a supervisor which permits some desired actions to occur and prohibits undesired actions. The approach proposed here has the potential ability of localizing the robot in maze like environments.
simultaneous localization and mapping discrete event systems mobile robots large environments
Xuefeng Dai Juan Du
Computer and Control Engineering Institute Qiqihar University Qiqihar,Heilongjiang 161006,China
国际会议
长沙
英文
1178-1181
2009-04-11（万方平台首次上网日期，不代表论文的发表时间）