Simultaneous localization and map building for mobile robots

Authors

  • V. M. Sineglazov National Aviation University
  • R. S. Novodranov National Aviation University

DOI:

https://doi.org/10.18372/1990-5548.48.11218

Keywords:

Mobile robot, simultaneous localization and map building, Extended Kalman Filter

Abstract

It is shown that the efficiency of mobile robots depends on the solution of navigation problemand the most popular approach to the solution of it is Simultaneous Localization and Map Building –method used in mobile autonomous vehicles for map building in an unknown space or for map update inbeforehand known space with simultaneous control of the current location and traveled distance. Thesolution of the simultaneous localization and map building problem based on Extended Kalman Filter

Author Biographies

V. M. Sineglazov, National Aviation University

Doctor of Engineering. Professor. Education-Scientific Institute of information-diagnostic dystems

R. S. Novodranov, National Aviation University

Bachelor. Education-Scientific Institute of information-diagnostic dystems

References

Z. Xu, and Y. Zhuang, “Simultaneous Localization and Map Building with Modified System State”. Journal of Advanced Robotic System, vol. 6, no. 3,. 169–176.

H. F. Durrant-White, and T. Bailey, Simultaneous Localization and Mapping (SLAM): Part I The Essential Algorithms.

R. Negenborn, Robot Localization and Kalman Filters. On finding your position in a noisy world, Thesis, Utrecht University, 2003.

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Issue

Vol. 2 No. 48 (2016)

Section

TRANSPORT SYSTEMS

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