A New State Vector for Range-Only SLAM
This paper considers the simultaneous localization and mapping (SLAM) problem where the range-only sensor is used. Landmark initialization is a critical issue in rangeonly SLAM due to the lack of bearing information from the robot to the landmarks. A new state vector is proposed to be used in solving the range-only SLAM. In the new state vector, the landmark position is represented in different ways under different situations. This new representation avoids the need of multiple hypotheses on the landmark positions implemented in most of the existing range-only SLAM algorithms. Simulation and experimental results demonstrate the effectiveness of the new range-only SLAM algorithm using the new state vector within the least squares framework.
Range-only SLAM Landmark initialization Least squares optimization.
Adizul Ahmad Shoudong Huang Jianguo Jack Wang Gamini Dissanayake
Faculty of Engineering and Information Technology, University of Technology Sydney, NSW 2007, Australia
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
3413-3418
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）