Loop detection of mobile robots using interval analysis
Language
en
Article de revue
This item was published in
Automatica. 2013-02, vol. 49, n° 2, p. 463-470
Elsevier
English Abstract
This paper proposes an original set-membership approach for loop detection of mobile robots in the situation where proprioceptive sensors only are available. To detect loops, the new concepts of t-plane (which is a two ...Read more >
This paper proposes an original set-membership approach for loop detection of mobile robots in the situation where proprioceptive sensors only are available. To detect loops, the new concepts of t-plane (which is a two dimensional space with time coordinates) is introduced. Interval of functions (or tubes) are then used to represent uncertain trajectories and tests are provided in order to elimate parts of the tplane that do not correspond to any loop. An experiment with an actual underwater robot is proposed in order to illustrate the principle and the efficiency of the approach.Read less <
English Keywords
SLAM
loop closure
interval analysis
robotics
tubes
SLAM.
Origin
Hal imported