Development of Rao-Blackwellized Particle Filter (RBPF) SLAM Algorithm Using Low Proximity Infrared Sensors

被引：6
作者：
Yatim, Norhidayah Mohamad [1 ,2 ]
Buniyamin, Norlida [1 ]
机构：
[1] Univ Teknol MARA UiTM, Fac Elect Engn, Shah Alam 40450, Selangor, Malaysia
[2] Univ Teknikal Malaysia Melaka UTeM, Fac Elect & Comp Engn, Hang Tuah Jaya 76100, Melaka, Malaysia
来源：
9TH INTERNATIONAL CONFERENCE ON ROBOTIC, VISION, SIGNAL PROCESSING AND POWER APPLICATIONS: EMPOWERING RESEARCH AND INNOVATION | 2017年 / 398卷
关键词：
SLAM; RBPF; Infrared sensor; Mapping;
D O I：
10.1007/978-981-10-1721-6_43
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Simultaneous Localization and Mapping (SLAM) algorithm are often developed using accurate sensor such as laser rangefinder. However, recently more consumer-oriented robots are usually equipped with low-end sensor such as low-proximity infrared sensor due to its lower cost. This has motivated this research work to implement RBPF-SLAM algorithm using infrared sensor only. Despite of the sparseness and noisiness characteristics of infrared sensor, it is used as the only robot's perception in the RBPF-SLAM algorithm developed. The performance of this algorithm is investigated and analyzed. The result shows a decent and satisfactory map.
引用
收藏
页码：395 / 405
页数：11
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