Abstract:
The main contribution of this paper is an algorithm
for integrating motion planning and simultaneous localisation
and mapping (SLAM). Accuracy of the maps and the robot
locations computed using SLAM is strongly dependent on the
characteristics of the environment, for example feature density,
as well as the speed and direction of motion of the robot.
Appropriate control of the robot motion is particularly
important in bearing-only SLAM, where the information from a
moving sensor is essential. In this paper a near minimum time
path planning algorithm with a finite planning horizon is
proposed for bearing-only SLAM. The objective of the algorithm
is to achieve a predefined mapping precision while maintaining
acceptable vehicle location uncertainty in the minimum time.
Simulation results have shown the effectiveness of the proposed
method.
