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

页码：395 / 405

页数：11