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Planning reliable paths with Pose SLAM

Autor
Valencia, R.; Morta , M.; Andrade-Cetto, J.; Porta, J.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2013
Volum
29
Número
4
Pàgina inicial
1050
Pàgina final
1059
DOI
https://doi.org/10.1109/TRO.2013.2257577 Obrir en finestra nova
Projecte finançador
FP7-ICT- 287617 Aerial Robotics Cooperative Assembly System
Repositori
http://hdl.handle.net/2117/22926 Obrir en finestra nova
Resum
The maps that are built by standard feature-based simultaneous localization and mapping (SLAM) methods cannot be directly used to compute paths for navigation, unless enriched with obstacle or traversability information, with the consequent increase in complexity. Here, we propose a method that directly uses the Pose SLAM graph of constraints to determine the path between two robot configurations with lowest accumulated pose uncertainty, i.e., the most reliable path to the goal. The method shows...
Citació
Valencia, R. [et al.]. Planning reliable paths with Pose SLAM. "IEEE transactions on robotics", 2013, vol. 29, núm. 4, p. 1050-1059.
Paraules clau
path planning, robots PARAULES AUTOR: autonomous navigation, simultaneous localization and map building (SLAM)
Grup de recerca
KRD - Cinemàtica i Disseny de Robots
VIS - Visió Artificial i Sistemes Intel.ligents

Participants