Active SLAM Using Model Predictive Control and Attractor Based Exploration

UTSePress Research/Manakin Repository

Search UTSePress Research


Advanced Search

Browse

My Account

Show simple item record

dc.contributor.author Leung, Cindy en_US
dc.contributor.author Huang, Shoudong en_US
dc.contributor.author Dissanayake, Gamini en_US
dc.contributor.editor N/A en_US
dc.date.accessioned 2009-11-09T05:36:20Z
dc.date.available 2009-11-09T05:36:20Z
dc.date.issued 2006 en_US
dc.identifier 2006004921 en_US
dc.identifier.citation Leung Cindy, Huang Shoudong, and Dissanayake Gamini 2006, 'Active SLAM Using Model Predictive Control and Attractor Based Exploration', IEEE, Beijing, China, pp. 5026-5031. en_US
dc.identifier.issn 1-4244-0259-X en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/2744
dc.description.abstract Active SLAM poses the challenge for an autonomous robot to plan efficient paths simultaneous to the SLAM process. The uncertainties of the robot, map and sensor measurements, and the dynamic and motion constraints need to be considered in the planning process. In this paper, the active SLAM problem is formulated as an optimal trajectory planning problem. A novel technique is introduced that utilises an attractor combined with local planning strategies such as model predictive control (a.k.a. receding horizon) to solve this problem. An attractor provides high level task intentions and incorporates global information about the environment for the local planner, thereby eliminating the need for costly global planning with longer horizons. It is demonstrated that trajectory planning with an attractor results in improved performance over systems that have local planning alone en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/IROS.2006.282530 en_US
dc.title Active SLAM Using Model Predictive Control and Attractor Based Exploration en_US
dc.parent 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Beijing, China en_US
dc.identifier.startpage 5026 en_US
dc.identifier.endpage 5031 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference.location Beijing, China en_US
dc.for 091303 en_US
dc.personcode 98071020 en_US
dc.personcode 040006 en_US
dc.personcode 011224 en_US
dc.percentage 50 en_US
dc.classification.name Autonomous Vehicles en_US
dc.classification.type FOR-08 en_US
dc.custom IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.date.activity 20061009 en_US
dc.location.activity Beijing, China en_US
dc.description.keywords SLAM (robots) , mobile robots , motion control , optimal control , path planning , position control , predictive control en_US
dc.staffid 011224 en_US


Files in this item

This item appears in the following Collection(s)

Show simple item record