TY - GEN
T1 - Efficient active SLAM based on submap joining
AU - Chen, Yongbo
AU - Huang, Shoudong
AU - Fitch, Robert
AU - Yu, Jianqiao
PY - 2017
Y1 - 2017
N2 - This paper considers the active SLAM problem where a robot is required to cover a given area while at the same time performing simultaneous localization and mapping (SLAM) for understanding the environment and localizing the robot itself. We propose a model predictive control (MPC) framework, and the minimization of uncertainty in SLAM and coverage problems are solved respectively by the Sequential Quadratic Programming (SQP) method. Then, a decision making process is used to control the switching of two control inputs. In order to reduce the estimation and planning time, we use Linear SLAM, which is a submap joining approach. Simulation results are presented to validate the effectiveness of the proposed active SLAM strategy.
AB - This paper considers the active SLAM problem where a robot is required to cover a given area while at the same time performing simultaneous localization and mapping (SLAM) for understanding the environment and localizing the robot itself. We propose a model predictive control (MPC) framework, and the minimization of uncertainty in SLAM and coverage problems are solved respectively by the Sequential Quadratic Programming (SQP) method. Then, a decision making process is used to control the switching of two control inputs. In order to reduce the estimation and planning time, we use Linear SLAM, which is a submap joining approach. Simulation results are presented to validate the effectiveness of the proposed active SLAM strategy.
UR - http://www.scopus.com/inward/record.url?scp=85049787447&partnerID=8YFLogxK
M3 - Conference contribution
T3 - Australasian Conference on Robotics and Automation, ACRA
SP - 141
EP - 147
BT - Australasian Conference on Robotics and Automation, ACRA 2017
A2 - Alempijevic, Alen
A2 - Calleja, Teresa Vidal
A2 - Kodagoda, Sarath
PB - Australasian Robotics and Automation Association
T2 - Australasian Conference on Robotics and Automation, ACRA 2017
Y2 - 11 December 2017 through 13 December 2017
ER -