Subjective exploration for simultaneous localization and mapping used in ruins
文献类型：会议论文
| 作者 | Wang N(王楠) ; Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Zhao MY(赵明扬)
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| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) |
| 会议日期 | June 8-12, 2015 |
| 会议地点 | Shenyang, China |
| 关键词 | simultaneous localization and mapping (SLAM) ruins exploration mobile robot |
| 页码 | 169-174 |
| 中文摘要 | According to the requirement of efficiency for rapid detection during the search and rescue in ruins, this paper proposes a subjective exploration strategy in the framework of simultaneous localization and mapping (SLAM). To balance the accuracy of SLAM algorithm and the efficiency of exploration, the problem of the subjective exploration of active SLAM is converted into an issue of multi-objective optimization. An objective function is presented to evaluate the uncertainties of estimation, the cost of movement and the gain of exploration. Furthermore, considering the uncertainty of estimation that is measured by the information entropy, an active constraint of loop closure is used for a backtracking correction of accumulated errors. Finally, the feasibility and validity of the proposed algorithm are verified by contrastive simulations and experiments. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-4799-8730-6 |
| WOS记录号 | WOS:000380502300036 |
| 源URL | [http://ir.sia.cn/handle/173321/17479]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang N,Ma SG,Li B,et al. Subjective exploration for simultaneous localization and mapping used in ruins[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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