Laser-Based Mobile Robot Map Building

2012 ◽  
pp. 1085-1091 ◽  
Author(s):  
Liu Yan ◽  
Tian Qi ◽  
Tang Wenjun
Keyword(s):  
Mobile Robot ◽  
Map Building

BUILDING MAP AND POSITIONING SYSTEM FOR INDOOR ROBOT BASED ON PLAYER

2011 ◽  
Vol 08 (04) ◽  
pp. 281-290
Author(s):  
BIN WANG ◽  
WEI LU ◽  
BIN KONG
Keyword(s):  
Mobile Robot ◽  
Positioning System ◽  
Map Building ◽  
Adaptive Monte Carlo ◽  
Indoor Mobile Robot ◽  
Robot Positioning ◽  
Positioning Method ◽  
Dynamic Map ◽  
Slam Algorithm ◽  
Number Of Particles

In this paper, we have proposed a map-building and positioning method for an indoor mobile robot based on the open source platform Player. First, the DP-SLAM algorithm is transplanted to the Player and used to build the dynamic offline map. This would reduce the errors and constraints caused by manual map building. Second, the KLD-Sampling Adaptive Monte Carlo Locating (KLD-AMCL) algorithm is introduced to reduce the number of particles required in locating. Meanwhile, higher accuracy of localization is achieved through calculating the MLE and the real posterior KL distance. Finally, an indoor mobile robot positioning system is built by combining the Player platform, dynamic map building and KLD-AMCL algorithm. Experimental results show that the proposed system has better environmental adaptability and higher positioning accuracy.

Mobile-Robot Map Building from an Advanced Sonar Array and Accurate Odometry

1999 ◽  
Vol 18 (1) ◽  
pp. 20-36 ◽  
Author(s):  
Kok Seng Chong ◽  
Lindsay Kleeman
Keyword(s):  
Mobile Robot ◽  
Map Building
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