Prouver l'existence de boucles dans des trajectoires de robots
Idioma
en
Article de revue
Este ítem está publicado en
The International Journal of Robotics Research. 2018-10-24, vol. 37, n° 12, p. 1500-1516
SAGE Publications
Resumen en inglés
This paper presents a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one ...Leer más >
This paper presents a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points in SLAM methods, especially in homogeneous environments with difficult scenes recognitions. The proposed approach is generic and could be coupled with conventional SLAM algorithms to reliably reduce their computing burden, thus improving the localization and mapping processes in the most challenging environments such as unexplored underwater extents. To prove that a robot performed a loop whatever the uncertainties in its evolution, we employ the notion of topological degree that originates in the field of differential topology. We show that a verification tool based on the topological degree is an optimal method for proving robot loops. This is demonstrated both on datasets from real missions involving autonomous underwater vehicles, and by a mathematical discussion.< Leer menos
Palabras clave en inglés
mobile robotics
SLAM
loop detection
interval analysis
topological degree
tubes
Orígen
Importado de HalCentros de investigación