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| dc.contributor.author | Leung Cindy | en_US |
| dc.contributor.author | Dissanayake Gamini | en_US |
| dc.contributor.author | Huang Shoudong | en_US |
| dc.contributor.editor | IEEE | en_US |
| dc.date.accessioned | 2010-05-28T10:01:40Z | |
| dc.date.available | 2010-05-28T10:01:40Z | |
| dc.date.issued | 2008 | en_US |
| dc.identifier | 2008002085 | en_US |
| dc.identifier.citation | Leung Cindy, Huang Shoudong, and Dissanayake Gamini 2008, 'Active SLAM for structured environments', IEEE, Piscataway, USA, pp. 1898-1903. | en_US |
| dc.identifier.issn | 1050-4729 | en_US |
| dc.identifier.other | E1 | en_US |
| dc.identifier.uri | http://hdl.handle.net/10453/11075 | |
| dc.description.abstract | This paper considers the trajectory planning problem for line-feature based SLAM in structured indoor environments. The robot poses and line features are estimated using smooth and mapping (SAM) which is found to provide more consistent estimates than the extended Kalman filter (EKF) The objective of trajectory planning is to minimise the uncertainty of the estimates and to maximise coverage. Trajectory planning is performed using model predictive control (MPC) with an attractor incorporating long term goals. This planning is demonstrated both in simulation and in a real-time experiment with a Pioneer2DX robot. | en_US |
| dc.language | en_US | |
| dc.publisher | IEEE | en_US |
| dc.relation.hasversion | Accepted manuscript version | en_US |
| dc.relation.isbasedon | http://dx.doi.org/10.1109/ROBOT.2008.4543484 | en_US |
| dc.title | Active SLAM for structured environments | en_US |
| dc.parent | Proceeding of 2008 IEEE International Conference on Robotics and Automation | en_US |
| dc.journal.volume | en_US | |
| dc.journal.number | en_US | |
| dc.publocation | Piscataway, USA | en_US |
| dc.identifier.startpage | 1898 | en_US |
| dc.identifier.endpage | 1903 | en_US |
| dc.cauo.name | FEIT.School of Elec, Mech and Mechatronic Systems | en_US |
| dc.conference | Verified OK | en_US |
| dc.for | 091303 | en_US |
| dc.personcode | 011224;040006;98071020 | en_US |
| dc.percentage | 000050 | en_US |
| dc.classification.name | Autonomous Vehicles | en_US |
| dc.classification.type | FOR-08 | en_US |
| dc.edition | en_US | |
| dc.custom | ICRA2008 | en_US |
| dc.date.activity | 20080519 | en_US |
| dc.location.activity | Pasadena, USA | en_US |
| dc.description.keywords | Kalman filters SLAM (robots) path planning predictive control | en_US |
| dc.staffid | en_US |
